# 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: SantaMonica_1v3.rte # Mission File: SantaMonica_1v3.cfg # Distance: 92572.387098 (m) # Estimated Time: 63055 (s) 17.515 (hr) # Abort Time: 62360 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 639 (s) # Way Points: 155 # Route Points: 1840 # 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: 10 (m) # Maximum Vehicle Depth: 800 (m) # Abort Vehicle Depth: 850 (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 -118.547357 33.939886 -67.002827 0.000000 3 # 1 -118.554532 33.932071 -126.196684 1091.385257 1 # 2 -118.561020 33.926595 -174.953640 1944.963123 1 # 3 -118.567178 33.922537 -200.012398 2670.691158 1 # 4 -118.572903 33.920192 -241.368614 3260.447813 1 # 5 -118.579349 33.921485 -259.821274 3873.438880 1 # 6 -118.588135 33.922718 -288.678383 4697.191101 1 # 7 -118.599046 33.924611 -311.485413 5727.583837 1 # 8 -118.607271 33.926661 -334.986336 6521.273194 1 # 9 -118.616618 33.929601 -352.092979 7444.882399 1 # 10 -118.620183 33.929962 -364.994339 7776.886962 1 # 11 -118.624828 33.929782 -391.381836 8206.777674 1 # 12 -118.629873 33.929366 -380.751137 8675.463149 1 # 13 -118.634875 33.927888 -429.141777 9166.096175 1 # 14 -118.647334 33.922898 -428.215233 10444.041714 1 # 15 -118.655760 33.919110 -442.595787 11329.166618 1 # 16 -118.663538 33.914150 -451.796944 12234.624362 1 # 17 -118.673548 33.907146 -492.351237 13443.021562 1 # 18 -118.677041 33.906395 -491.514242 13776.607864 1 # 19 -118.682406 33.904080 -509.124512 14335.258812 1 # 20 -118.683379 33.902006 -541.221680 14582.250177 1 # 21 -118.684603 33.900262 -544.158285 14806.331394 1 # 22 -118.688564 33.898128 -549.067220 15242.484786 1 # 23 -118.690220 33.896114 -558.893595 15513.346678 1 # 24 -118.692597 33.894130 -567.911947 15824.368402 1 # 25 -118.694505 33.892808 -571.230428 16053.884178 1 # 26 -118.696378 33.890793 -575.190999 16336.535540 1 # 27 -118.699043 33.889200 -575.690104 16639.800008 1 # 28 -118.700191 33.887586 -582.589676 16847.981203 1 # 29 -118.700015 33.886134 -587.413981 17009.833858 1 # 30 -118.697890 33.885022 -603.337077 17241.860319 1 # 31 -118.697134 33.884481 -592.666707 17334.023623 1 # 32 -118.696918 33.883759 -586.581665 17416.497262 1 # 33 -118.699943 33.884120 -538.474569 17699.136395 1 # 34 -118.700807 33.881956 -545.617676 17952.144807 1 # 35 -118.699943 33.879791 -550.392619 18205.153781 1 # 36 -118.697674 33.876815 -571.211914 18596.284287 1 # 37 -118.698754 33.873839 -577.016927 18941.145809 1 # 38 -118.697890 33.871405 -591.030518 19222.784675 1 # 39 -118.697530 33.868910 -599.091471 19501.502814 1 # 40 -118.697782 33.866354 -606.657715 19785.848605 1 # 41 -118.697134 33.862747 -616.358480 20190.394928 1 # 42 -118.698070 33.860162 -624.164876 20489.916558 1 # 43 -118.695694 33.854300 -665.102458 21176.225284 1 # 44 -118.695514 33.852016 -743.859863 21430.153753 1 # 45 -118.698214 33.849941 -759.789469 21769.823791 1 # 46 -118.700051 33.846064 -782.507894 22232.264924 1 # 47 -118.701851 33.844380 -783.981445 22482.503975 1 # 48 -118.703148 33.841855 -792.527018 22787.171564 1 # 49 -118.706928 33.837977 -807.156820 23341.622628 1 # 50 -118.709233 33.834701 -810.075287 23762.979160 4 # 51 -118.707725 33.833484 -814.650101 23957.142674 3 # 52 -118.697680 33.849113 -764.505920 25924.094598 1 # 53 -118.694433 33.851475 -751.616536 26322.666235 1 # 54 -118.692813 33.852827 -741.477783 26534.779092 1 # 55 -118.693857 33.855923 -734.050537 26891.513391 1 # 56 -118.694974 33.858509 -723.534668 27196.271640 1 # 57 -118.694721 33.860613 -714.489746 27430.811841 1 # 58 -118.694325 33.863378 -708.022868 27739.718648 1 # 59 -118.695046 33.865843 -697.141927 28021.107199 1 # 60 -118.695262 33.870172 -676.115982 28501.610959 1 # 61 -118.696018 33.875042 -658.882975 29046.227464 1 # 62 -118.695190 33.877086 -646.598389 29285.534344 1 # 63 -118.696810 33.878799 -638.808675 29527.575371 1 # 64 -118.697962 33.880813 -632.809733 29775.081383 1 # 65 -118.697674 33.881956 -626.145752 29904.544871 1 # 66 -118.695730 33.883399 -613.218384 30145.300011 1 # 67 -118.696270 33.884932 -599.841278 30322.559303 1 # 68 -118.698826 33.886585 -600.441788 30621.740892 1 # 69 -118.698502 33.887848 -597.630203 30764.989906 1 # 70 -118.695730 33.890343 -578.575562 31142.234980 1 # 71 -118.693569 33.892597 -561.432454 31462.304932 1 # 72 -118.690616 33.894972 -565.356110 31841.758949 1 # 73 -118.688024 33.897497 -550.243693 32210.405113 1 # 74 -118.683199 33.900713 -541.827881 32781.723263 1 # 75 -118.681470 33.903148 -522.689133 33095.519892 1 # 76 -118.676573 33.904982 -502.245308 33591.972845 1 # 77 -118.672900 33.905884 -500.496663 33946.055339 1 # 78 -118.662421 33.912918 -476.646263 35190.107228 1 # 79 -118.654752 33.917697 -461.780762 36075.426348 1 # 80 -118.646434 33.921665 -446.678711 36961.528638 1 # 81 -118.634178 33.926661 -431.875496 38222.889731 1 # 82 -118.629725 33.927948 -423.778557 38658.622670 1 # 83 -118.624828 33.928519 -406.064445 39115.763950 1 # 84 -118.620219 33.928579 -388.793816 39541.921260 1 # 85 -118.616942 33.928249 -372.855354 39847.085029 1 # 86 -118.605095 33.924521 -348.472420 41017.813013 1 # 87 -118.599334 33.923108 -335.634560 41573.022657 1 # 88 -118.588351 33.921275 -306.255730 42608.623804 1 # 89 -118.579493 33.920102 -277.699760 43437.884721 1 # 90 -118.572795 33.918840 -249.204979 44072.794849 1 # 91 -118.566170 33.921485 -222.986279 44751.949011 1 # 92 -118.559914 33.925759 -178.323978 45499.761340 1 # 93 -118.553456 33.931169 -116.878508 46346.192239 1 # 94 -118.547157 33.937808 -75.836384 47284.914190 4 # 95 -118.546281 33.936279 -77.723280 47472.830113 3 # 96 -118.552380 33.930268 -114.197056 48345.930863 1 # 97 -118.558860 33.924792 -152.988152 49198.997337 1 # 98 -118.565305 33.920313 -194.413078 49974.768670 1 # 99 -118.572579 33.917487 -239.831203 50716.762575 1 # 100 -118.579673 33.918870 -265.218735 51390.372388 1 # 101 -118.588675 33.919922 -287.254066 52230.829731 1 # 102 -118.599802 33.921726 -324.117447 53278.886378 1 # 103 -118.605527 33.923168 -334.867188 53831.833611 1 # 104 -118.617374 33.926986 -362.767281 55006.139664 1 # 105 -118.620219 33.927227 -380.884171 55270.520645 1 # 106 -118.624756 33.927136 -392.973701 55690.097649 1 # 107 -118.629257 33.926625 -403.823502 56110.068627 1 # 108 -118.633470 33.925363 -409.388893 56523.960652 1 # 109 -118.645245 33.920493 -413.627548 57739.265947 1 # 110 -118.653779 33.916345 -464.050224 58652.657229 1 # 111 -118.661557 33.912106 -458.419022 59511.899461 1 # 112 -118.669659 33.906966 -490.809245 60453.358948 1 # 113 -118.672900 33.904892 -497.700968 60831.167436 1 # 114 -118.676285 33.904321 -498.127238 61150.536342 1 # 115 -118.680282 33.902337 -512.315720 61580.702686 1 # 116 -118.683271 33.899751 -536.692424 61978.981782 1 # 117 -118.687304 33.897106 -539.298584 62453.535520 1 # 118 -118.691841 33.892597 -546.288696 63106.368187 1 # 119 -118.694289 33.890192 -569.583740 63456.270426 1 # 120 -118.697314 33.888298 -594.221029 63806.115569 1 # 121 -118.697422 33.886765 -594.715495 63976.442144 1 # 122 -118.695082 33.884120 -594.381592 64341.067127 1 # 123 -118.695190 33.882587 -614.204997 64511.393484 1 # 124 -118.697422 33.881445 -621.807292 64753.675515 1 # 125 -118.696990 33.880182 -625.572428 64899.296160 1 # 126 -118.695262 33.878108 -640.961349 65179.425421 1 # 127 -118.694613 33.876845 -639.805013 65331.766678 1 # 128 -118.695514 33.875102 -651.983480 65542.308026 1 # 129 -118.694757 33.872216 -670.406769 65869.951674 1 # 130 -118.694757 33.869330 -675.418864 66189.995706 1 # 131 -118.694181 33.867557 -681.679606 66393.794266 1 # 132 -118.693353 33.864731 -696.927734 66716.419083 1 # 133 -118.693317 33.862236 -706.421712 66993.158447 1 # 134 -118.694001 33.860042 -717.068130 67244.598673 1 # 135 -118.692777 33.856915 -716.671036 67609.435120 1 # 136 -118.691373 33.853939 -729.355392 67964.147290 1 # 137 -118.691913 33.851955 -732.463531 68189.792730 1 # 138 -118.694181 33.849881 -728.608139 68501.174182 1 # 139 -118.696810 33.847236 -749.640076 68882.284194 1 # 140 -118.705092 33.834731 -814.148834 70466.908013 4 # 141 -118.709305 33.837527 -784.249847 70965.111057 3 # 142 -118.705308 33.842667 -751.304932 71644.667504 1 # 143 -118.702319 33.847597 -710.991374 72257.415158 1 # 144 -118.700483 33.851114 -693.795380 72682.918766 1 # 145 -118.696270 33.853639 -678.768738 73162.929096 3 # 146 -118.701268 33.886685 -562.132263 76857.095398 4 # 147 -118.702859 33.886375 -522.629578 77008.223779 3 # 148 -118.698070 33.854481 -686.853546 80573.210564 4 # 149 -118.699619 33.854000 -692.583328 80726.150611 3 # 150 -118.704660 33.886134 -529.877808 84320.503688 4 # 151 -118.706424 33.886014 -529.585327 84484.214354 3 # 152 -118.701203 33.852136 -689.179321 88272.531480 4 # 153 -118.702715 33.849881 -682.813034 88559.108963 3 # 154 -118.708225 33.885773 -532.616623 92572.387098 4 # # A total of 1840 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 63900; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 800.000000; abortDepth = 850.000000; minAltitude = 50.000000; abortAltitude = 25.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 639; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 154 # Segment length 59.325926 meters # Minimum depth: 532.616623 meters looking forward 0.000000 meters along route # Maximum depth: 532.616623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 492.616623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885773; longitude = -118.708225; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 492.579606; finalDepth = 492.616623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:492.616623 # Seafloor depth:-532.616623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 532.579606 meters looking forward 0.000000 meters along route # Maximum depth: 532.579606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 492.579606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885533; longitude = -118.708188; captureRadius = 10; duration = 59; initialDepth = 494.550819; finalDepth = 492.579606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:492.579606 # Seafloor depth:-532.579606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 534.550819 meters looking forward 0.000000 meters along route # Maximum depth: 534.550819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.550819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885082; longitude = -118.708119; captureRadius = 10; duration = 59; initialDepth = 497.127862; finalDepth = 494.550819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:494.550819 # Seafloor depth:-534.550819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 537.127862 meters looking forward 0.000000 meters along route # Maximum depth: 537.127862 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 497.127862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884631; longitude = -118.708050; captureRadius = 10; duration = 59; initialDepth = 500.409394; finalDepth = 497.127862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:497.127862 # Seafloor depth:-537.127862 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 540.409394 meters looking forward 0.000000 meters along route # Maximum depth: 540.409394 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.409394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884180; longitude = -118.707980; captureRadius = 10; duration = 59; initialDepth = 507.824758; finalDepth = 500.409394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.409394 # Seafloor depth:-540.409394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 547.824758 meters looking forward 0.000000 meters along route # Maximum depth: 547.824758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.824758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883729; longitude = -118.707911; captureRadius = 10; duration = 59; initialDepth = 506.546210; finalDepth = 507.824758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:507.824758 # Seafloor depth:-547.824758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 546.546210 meters looking forward 0.000000 meters along route # Maximum depth: 546.546210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.546210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883278; longitude = -118.707842; captureRadius = 10; duration = 59; initialDepth = 502.753175; finalDepth = 506.546210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.54621 # Seafloor depth:-546.546210 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 542.753175 meters looking forward 0.000000 meters along route # Maximum depth: 542.753175 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.753175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882827; longitude = -118.707773; captureRadius = 10; duration = 59; initialDepth = 501.528932; finalDepth = 502.753175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:502.753175 # Seafloor depth:-542.753175 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 541.528932 meters looking forward 0.000000 meters along route # Maximum depth: 541.528932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.528932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882377; longitude = -118.707704; captureRadius = 10; duration = 59; initialDepth = 501.428414; finalDepth = 501.528932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:501.528932 # Seafloor depth:-541.528932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 541.428414 meters looking forward 0.000000 meters along route # Maximum depth: 541.428414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.428414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881926; longitude = -118.707634; captureRadius = 10; duration = 59; initialDepth = 503.055518; finalDepth = 501.428414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:501.428414 # Seafloor depth:-541.428414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 543.055518 meters looking forward 0.000000 meters along route # Maximum depth: 543.055518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.055518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881475; longitude = -118.707565; captureRadius = 10; duration = 59; initialDepth = 505.281908; finalDepth = 503.055518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.055518 # Seafloor depth:-543.055518 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 545.281908 meters looking forward 0.000000 meters along route # Maximum depth: 545.281908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.281908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881024; longitude = -118.707496; captureRadius = 10; duration = 59; initialDepth = 510.272500; finalDepth = 505.281908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.281908 # Seafloor depth:-545.281908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 550.272500 meters looking forward 0.000000 meters along route # Maximum depth: 550.272500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.272500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880573; longitude = -118.707427; captureRadius = 10; duration = 59; initialDepth = 520.470535; finalDepth = 510.272500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:510.2725 # Seafloor depth:-550.272500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 560.470535 meters looking forward 0.000000 meters along route # Maximum depth: 560.470535 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.470535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880122; longitude = -118.707357; captureRadius = 10; duration = 59; initialDepth = 528.225837; finalDepth = 520.470535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:520.470535 # Seafloor depth:-560.470535 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 568.225837 meters looking forward 0.000000 meters along route # Maximum depth: 568.225837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.225837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879671; longitude = -118.707288; captureRadius = 10; duration = 59; initialDepth = 551.155172; finalDepth = 528.225837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:528.225837 # Seafloor depth:-568.225837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 591.155172 meters looking forward 0.000000 meters along route # Maximum depth: 591.155172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.155172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879220; longitude = -118.707219; captureRadius = 10; duration = 59; initialDepth = 558.869415; finalDepth = 551.155172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.155172 # Seafloor depth:-591.155172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 598.869415 meters looking forward 0.000000 meters along route # Maximum depth: 598.869415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.869415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878769; longitude = -118.707150; captureRadius = 10; duration = 59; initialDepth = 557.581500; finalDepth = 558.869415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.869415 # Seafloor depth:-598.869415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 597.581500 meters looking forward 0.000000 meters along route # Maximum depth: 597.581500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.581500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878318; longitude = -118.707081; captureRadius = 10; duration = 59; initialDepth = 551.426391; finalDepth = 557.581500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.5815 # Seafloor depth:-597.581500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 591.426391 meters looking forward 0.000000 meters along route # Maximum depth: 591.426391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.426391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877868; longitude = -118.707011; captureRadius = 10; duration = 59; initialDepth = 543.981402; finalDepth = 551.426391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.426391 # Seafloor depth:-591.426391 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 583.981402 meters looking forward 0.000000 meters along route # Maximum depth: 583.981402 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.981402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877417; longitude = -118.706942; captureRadius = 10; duration = 59; initialDepth = 533.133003; finalDepth = 543.981402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.981402 # Seafloor depth:-583.981402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 573.133003 meters looking forward 0.000000 meters along route # Maximum depth: 573.133003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.133003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876966; longitude = -118.706873; captureRadius = 10; duration = 59; initialDepth = 530.685751; finalDepth = 533.133003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:533.133003 # Seafloor depth:-573.133003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 570.685751 meters looking forward 0.000000 meters along route # Maximum depth: 570.685751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.685751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876515; longitude = -118.706804; captureRadius = 10; duration = 59; initialDepth = 530.613661; finalDepth = 530.685751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.685751 # Seafloor depth:-570.685751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 570.613661 meters looking forward 0.000000 meters along route # Maximum depth: 570.613661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.613661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876064; longitude = -118.706734; captureRadius = 10; duration = 59; initialDepth = 530.080548; finalDepth = 530.613661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.613661 # Seafloor depth:-570.613661 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 570.080548 meters looking forward 0.000000 meters along route # Maximum depth: 570.080548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.080548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875613; longitude = -118.706665; captureRadius = 10; duration = 59; initialDepth = 530.295235; finalDepth = 530.080548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.080548 # Seafloor depth:-570.080548 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 570.295235 meters looking forward 0.000000 meters along route # Maximum depth: 570.295235 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.295235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875162; longitude = -118.706596; captureRadius = 10; duration = 59; initialDepth = 532.214491; finalDepth = 530.295235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.295235 # Seafloor depth:-570.295235 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 572.214491 meters looking forward 0.000000 meters along route # Maximum depth: 572.214491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.214491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874711; longitude = -118.706527; captureRadius = 10; duration = 59; initialDepth = 535.651609; finalDepth = 532.214491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:532.214491 # Seafloor depth:-572.214491 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 575.651609 meters looking forward 0.000000 meters along route # Maximum depth: 575.651609 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.651609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874260; longitude = -118.706458; captureRadius = 10; duration = 59; initialDepth = 540.525774; finalDepth = 535.651609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:535.651609 # Seafloor depth:-575.651609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 580.525774 meters looking forward 0.000000 meters along route # Maximum depth: 580.525774 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.525774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873809; longitude = -118.706388; captureRadius = 10; duration = 59; initialDepth = 543.046014; finalDepth = 540.525774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.525774 # Seafloor depth:-580.525774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 583.046014 meters looking forward 0.000000 meters along route # Maximum depth: 583.046014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.046014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873358; longitude = -118.706319; captureRadius = 10; duration = 59; initialDepth = 545.651889; finalDepth = 543.046014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.046014 # Seafloor depth:-583.046014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 585.651889 meters looking forward 0.000000 meters along route # Maximum depth: 585.651889 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.651889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872908; longitude = -118.706250; captureRadius = 10; duration = 59; initialDepth = 549.596662; finalDepth = 545.651889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.651889 # Seafloor depth:-585.651889 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 589.596662 meters looking forward 0.000000 meters along route # Maximum depth: 589.596662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.596662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872457; longitude = -118.706181; captureRadius = 10; duration = 59; initialDepth = 552.311018; finalDepth = 549.596662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:549.596662 # Seafloor depth:-589.596662 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 592.311018 meters looking forward 0.000000 meters along route # Maximum depth: 592.311018 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.311018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872006; longitude = -118.706112; captureRadius = 10; duration = 59; initialDepth = 553.648631; finalDepth = 552.311018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.311018 # Seafloor depth:-592.311018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 593.648631 meters looking forward 0.000000 meters along route # Maximum depth: 593.648631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.648631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871555; longitude = -118.706042; captureRadius = 10; duration = 59; initialDepth = 558.360532; finalDepth = 553.648631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.648631 # Seafloor depth:-593.648631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 598.360532 meters looking forward 0.000000 meters along route # Maximum depth: 598.360532 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.360532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871104; longitude = -118.705973; captureRadius = 10; duration = 59; initialDepth = 563.875678; finalDepth = 558.360532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.360532 # Seafloor depth:-598.360532 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 603.875678 meters looking forward 0.000000 meters along route # Maximum depth: 603.875678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.875678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870653; longitude = -118.705904; captureRadius = 10; duration = 59; initialDepth = 569.257384; finalDepth = 563.875678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.875678 # Seafloor depth:-603.875678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 609.257384 meters looking forward 0.000000 meters along route # Maximum depth: 609.257384 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.257384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870202; longitude = -118.705835; captureRadius = 10; duration = 59; initialDepth = 574.118440; finalDepth = 569.257384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.257384 # Seafloor depth:-609.257384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 614.118440 meters looking forward 0.000000 meters along route # Maximum depth: 614.118440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.118440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869751; longitude = -118.705765; captureRadius = 10; duration = 59; initialDepth = 582.555820; finalDepth = 574.118440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.11844 # Seafloor depth:-614.118440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 622.555820 meters looking forward 0.000000 meters along route # Maximum depth: 622.555820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.555820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869300; longitude = -118.705696; captureRadius = 10; duration = 59; initialDepth = 589.742558; finalDepth = 582.555820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.55582 # Seafloor depth:-622.555820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 629.742558 meters looking forward 0.000000 meters along route # Maximum depth: 629.742558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.742558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868849; longitude = -118.705627; captureRadius = 10; duration = 59; initialDepth = 591.536463; finalDepth = 589.742558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.742558 # Seafloor depth:-629.742558 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 631.536463 meters looking forward 0.000000 meters along route # Maximum depth: 631.536463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.536463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868398; longitude = -118.705558; captureRadius = 10; duration = 59; initialDepth = 590.166180; finalDepth = 591.536463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.536463 # Seafloor depth:-631.536463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 630.166180 meters looking forward 0.000000 meters along route # Maximum depth: 630.166180 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.166180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867945; longitude = -118.705488; captureRadius = 10; duration = 59; initialDepth = 586.342161; finalDepth = 590.166180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.16618 # Seafloor depth:-630.166180 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 626.342161 meters looking forward 0.000000 meters along route # Maximum depth: 626.342161 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.342161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867497; longitude = -118.705419; captureRadius = 10; duration = 59; initialDepth = 581.194367; finalDepth = 586.342161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.342161 # Seafloor depth:-626.342161 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 621.194367 meters looking forward 0.000000 meters along route # Maximum depth: 621.194367 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.194367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867046; longitude = -118.705350; captureRadius = 10; duration = 59; initialDepth = 577.692539; finalDepth = 581.194367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.194367 # Seafloor depth:-621.194367 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 617.692539 meters looking forward 0.000000 meters along route # Maximum depth: 617.692539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.692539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866595; longitude = -118.705281; captureRadius = 10; duration = 59; initialDepth = 574.685750; finalDepth = 577.692539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.692539 # Seafloor depth:-617.692539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 614.685750 meters looking forward 0.000000 meters along route # Maximum depth: 614.685750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.685750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866144; longitude = -118.705212; captureRadius = 10; duration = 59; initialDepth = 572.567563; finalDepth = 574.685750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.68575 # Seafloor depth:-614.685750 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 612.567563 meters looking forward 0.000000 meters along route # Maximum depth: 612.567563 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.567563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865693; longitude = -118.705142; captureRadius = 10; duration = 59; initialDepth = 571.633601; finalDepth = 572.567563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:572.567563 # Seafloor depth:-612.567563 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 611.633601 meters looking forward 0.000000 meters along route # Maximum depth: 611.633601 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.633601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865242; longitude = -118.705073; captureRadius = 10; duration = 59; initialDepth = 572.287681; finalDepth = 571.633601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.633601 # Seafloor depth:-611.633601 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 612.287681 meters looking forward 0.000000 meters along route # Maximum depth: 612.287681 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.287681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864791; longitude = -118.705004; captureRadius = 10; duration = 59; initialDepth = 577.182945; finalDepth = 572.287681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:572.287681 # Seafloor depth:-612.287681 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 617.182945 meters looking forward 0.000000 meters along route # Maximum depth: 617.182945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.182945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864340; longitude = -118.704935; captureRadius = 10; duration = 59; initialDepth = 584.522620; finalDepth = 577.182945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.182945 # Seafloor depth:-617.182945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 624.522620 meters looking forward 0.000000 meters along route # Maximum depth: 624.522620 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.522620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863889; longitude = -118.704866; captureRadius = 10; duration = 59; initialDepth = 596.304512; finalDepth = 584.522620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.52262 # Seafloor depth:-624.522620 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 636.304512 meters looking forward 0.000000 meters along route # Maximum depth: 636.304512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.304512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863439; longitude = -118.704796; captureRadius = 10; duration = 59; initialDepth = 604.580828; finalDepth = 596.304512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.304512 # Seafloor depth:-636.304512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 644.580828 meters looking forward 0.000000 meters along route # Maximum depth: 644.580828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.580828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862988; longitude = -118.704727; captureRadius = 10; duration = 59; initialDepth = 611.961810; finalDepth = 604.580828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:604.580828 # Seafloor depth:-644.580828 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 651.961810 meters looking forward 0.000000 meters along route # Maximum depth: 651.961810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.961810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862537; longitude = -118.704658; captureRadius = 10; duration = 59; initialDepth = 614.012242; finalDepth = 611.961810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:611.96181 # Seafloor depth:-651.961810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 654.012242 meters looking forward 0.000000 meters along route # Maximum depth: 654.012242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 614.012242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862086; longitude = -118.704589; captureRadius = 10; duration = 59; initialDepth = 612.569186; finalDepth = 614.012242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:614.012242 # Seafloor depth:-654.012242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 652.569186 meters looking forward 0.000000 meters along route # Maximum depth: 652.569186 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.569186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861635; longitude = -118.704519; captureRadius = 10; duration = 59; initialDepth = 609.480827; finalDepth = 612.569186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:612.569186 # Seafloor depth:-652.569186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 649.480827 meters looking forward 0.000000 meters along route # Maximum depth: 649.480827 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.480827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861184; longitude = -118.704450; captureRadius = 10; duration = 59; initialDepth = 613.234010; finalDepth = 609.480827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:609.480827 # Seafloor depth:-649.480827 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 653.234010 meters looking forward 0.000000 meters along route # Maximum depth: 653.234010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 613.234010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860733; longitude = -118.704381; captureRadius = 10; duration = 59; initialDepth = 621.086321; finalDepth = 613.234010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:613.23401 # Seafloor depth:-653.234010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 661.086321 meters looking forward 0.000000 meters along route # Maximum depth: 661.086321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.086321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860282; longitude = -118.704312; captureRadius = 10; duration = 59; initialDepth = 622.814162; finalDepth = 621.086321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:621.086321 # Seafloor depth:-661.086321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 662.814162 meters looking forward 0.000000 meters along route # Maximum depth: 662.814162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.814162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859831; longitude = -118.704243; captureRadius = 10; duration = 59; initialDepth = 622.590767; finalDepth = 622.814162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:622.814162 # Seafloor depth:-662.814162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 662.590767 meters looking forward 0.000000 meters along route # Maximum depth: 662.590767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.590767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859380; longitude = -118.704173; captureRadius = 10; duration = 59; initialDepth = 622.199779; finalDepth = 622.590767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:622.590767 # Seafloor depth:-662.590767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 662.199779 meters looking forward 0.000000 meters along route # Maximum depth: 662.199779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.199779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858929; longitude = -118.704104; captureRadius = 10; duration = 59; initialDepth = 618.917482; finalDepth = 622.199779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:622.199779 # Seafloor depth:-662.199779 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 658.917482 meters looking forward 0.000000 meters along route # Maximum depth: 658.917482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 618.917482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858479; longitude = -118.704035; captureRadius = 10; duration = 59; initialDepth = 617.144426; finalDepth = 618.917482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:618.917482 # Seafloor depth:-658.917482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 657.144426 meters looking forward 0.000000 meters along route # Maximum depth: 657.144426 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.144426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858028; longitude = -118.703966; captureRadius = 10; duration = 59; initialDepth = 617.999160; finalDepth = 617.144426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:617.144426 # Seafloor depth:-657.144426 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 657.999160 meters looking forward 0.000000 meters along route # Maximum depth: 657.999160 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.999160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857577; longitude = -118.703896; captureRadius = 10; duration = 59; initialDepth = 618.065873; finalDepth = 617.999160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:617.99916 # Seafloor depth:-657.999160 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 658.065873 meters looking forward 0.000000 meters along route # Maximum depth: 658.065873 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 618.065873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857126; longitude = -118.703827; captureRadius = 10; duration = 59; initialDepth = 619.878823; finalDepth = 618.065873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:618.065873 # Seafloor depth:-658.065873 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 659.878823 meters looking forward 0.000000 meters along route # Maximum depth: 659.878823 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.878823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856675; longitude = -118.703758; captureRadius = 10; duration = 59; initialDepth = 620.498924; finalDepth = 619.878823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.878823 # Seafloor depth:-659.878823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 660.498924 meters looking forward 0.000000 meters along route # Maximum depth: 660.498924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.498924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856224; longitude = -118.703689; captureRadius = 10; duration = 59; initialDepth = 621.132616; finalDepth = 620.498924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:620.498924 # Seafloor depth:-660.498924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 661.132616 meters looking forward 0.000000 meters along route # Maximum depth: 661.132616 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.132616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855773; longitude = -118.703620; captureRadius = 10; duration = 59; initialDepth = 623.842634; finalDepth = 621.132616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:621.132616 # Seafloor depth:-661.132616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 663.842634 meters looking forward 0.000000 meters along route # Maximum depth: 663.842634 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.842634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855322; longitude = -118.703550; captureRadius = 10; duration = 59; initialDepth = 630.005656; finalDepth = 623.842634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:623.842634 # Seafloor depth:-663.842634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 670.005656 meters looking forward 0.000000 meters along route # Maximum depth: 670.005656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.005656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854871; longitude = -118.703481; captureRadius = 10; duration = 59; initialDepth = 636.473435; finalDepth = 630.005656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:630.005656 # Seafloor depth:-670.005656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 676.473435 meters looking forward 0.000000 meters along route # Maximum depth: 676.473435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 636.473435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854420; longitude = -118.703412; captureRadius = 10; duration = 59; initialDepth = 641.501543; finalDepth = 636.473435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:636.473435 # Seafloor depth:-676.473435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 681.501543 meters looking forward 0.000000 meters along route # Maximum depth: 681.501543 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.501543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853970; longitude = -118.703343; captureRadius = 10; duration = 59; initialDepth = 647.652012; finalDepth = 641.501543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:641.501543 # Seafloor depth:-681.501543 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 687.652012 meters looking forward 0.000000 meters along route # Maximum depth: 687.652012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.652012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853519; longitude = -118.703273; captureRadius = 10; duration = 59; initialDepth = 653.354253; finalDepth = 647.652012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:647.652012 # Seafloor depth:-687.652012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 693.354253 meters looking forward 0.000000 meters along route # Maximum depth: 693.354253 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.354253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853068; longitude = -118.703204; captureRadius = 10; duration = 59; initialDepth = 656.439786; finalDepth = 653.354253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:653.354253 # Seafloor depth:-693.354253 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 696.439786 meters looking forward 0.000000 meters along route # Maximum depth: 696.439786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 656.439786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852617; longitude = -118.703135; captureRadius = 10; duration = 59; initialDepth = 656.024754; finalDepth = 656.439786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:656.439786 # Seafloor depth:-696.439786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 696.024754 meters looking forward 0.000000 meters along route # Maximum depth: 696.024754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 656.024754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852166; longitude = -118.703066; captureRadius = 10; duration = 59; initialDepth = 654.158611; finalDepth = 656.024754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:656.024754 # Seafloor depth:-696.024754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 694.158611 meters looking forward 0.000000 meters along route # Maximum depth: 694.158611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 654.158611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851715; longitude = -118.702997; captureRadius = 10; duration = 59; initialDepth = 651.810571; finalDepth = 654.158611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:654.158611 # Seafloor depth:-694.158611 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 691.810571 meters looking forward 0.000000 meters along route # Maximum depth: 691.810571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 651.810571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851264; longitude = -118.702927; captureRadius = 10; duration = 59; initialDepth = 646.923419; finalDepth = 651.810571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:651.810571 # Seafloor depth:-691.810571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 686.923419 meters looking forward 0.000000 meters along route # Maximum depth: 686.923419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.923419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850813; longitude = -118.702858; captureRadius = 10; duration = 59; initialDepth = 643.662011; finalDepth = 646.923419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:646.923419 # Seafloor depth:-686.923419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 59.325926 meters # Minimum depth: 683.662011 meters looking forward 0.000000 meters along route # Maximum depth: 683.662011 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 643.662011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850353; longitude = -118.702787; captureRadius = 10; duration = 59; initialDepth = 642.813034; finalDepth = 643.662011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:643.662011 # Seafloor depth:-683.662011 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 153 # Segment length 59.325926 meters # Minimum depth: 682.813034 meters looking forward 0.000000 meters along route # Maximum depth: 682.813034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.813034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849881; longitude = -118.702715; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 642.526021; finalDepth = 642.813034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:642.813034 # Seafloor depth:-682.813034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 59.325926 meters # Minimum depth: 682.526021 meters looking forward 0.000000 meters along route # Maximum depth: 682.526021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.526021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850002; longitude = -118.702634; captureRadius = 10; duration = 59; initialDepth = 641.815265; finalDepth = 642.526021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:642.526021 # Seafloor depth:-682.526021 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 59.325926 meters # Minimum depth: 681.815265 meters looking forward 0.000000 meters along route # Maximum depth: 681.815265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.815265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850417; longitude = -118.702355; captureRadius = 10; duration = 59; initialDepth = 642.116680; finalDepth = 641.815265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:641.815265 # Seafloor depth:-681.815265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 59.325926 meters # Minimum depth: 682.116680 meters looking forward 0.000000 meters along route # Maximum depth: 682.116680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.116680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850813; longitude = -118.702090; captureRadius = 10; duration = 59; initialDepth = 643.566473; finalDepth = 642.116680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:642.11668 # Seafloor depth:-682.116680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 59.325926 meters # Minimum depth: 683.566473 meters looking forward 0.000000 meters along route # Maximum depth: 683.566473 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 643.566473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851264; longitude = -118.701788; captureRadius = 10; duration = 59; initialDepth = 646.424361; finalDepth = 643.566473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:643.566473 # Seafloor depth:-683.566473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 59.325926 meters # Minimum depth: 686.424361 meters looking forward 0.000000 meters along route # Maximum depth: 686.424361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.424361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851715; longitude = -118.701485; captureRadius = 10; duration = 59; initialDepth = 649.179321; finalDepth = 646.424361; 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:646.424361 # Seafloor depth:-686.424361 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 152 # Segment length 59.325926 meters # Minimum depth: 689.179321 meters looking forward 0.000000 meters along route # Maximum depth: 689.179321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.179321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852136; longitude = -118.701203; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 649.467576; finalDepth = 649.179321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:649.179321 # Seafloor depth:-689.179321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 689.467576 meters looking forward 0.000000 meters along route # Maximum depth: 689.467576 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.467576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852166; longitude = -118.701208; captureRadius = 10; duration = 59; initialDepth = 652.838740; finalDepth = 649.467576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:649.467576 # Seafloor depth:-689.467576 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 692.838740 meters looking forward 0.000000 meters along route # Maximum depth: 692.838740 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 652.838740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852617; longitude = -118.701277; captureRadius = 10; duration = 59; initialDepth = 655.565059; finalDepth = 652.838740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:652.83874 # Seafloor depth:-692.838740 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 695.565059 meters looking forward 0.000000 meters along route # Maximum depth: 695.565059 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 655.565059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853068; longitude = -118.701347; captureRadius = 10; duration = 59; initialDepth = 657.795689; finalDepth = 655.565059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:655.565059 # Seafloor depth:-695.565059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 697.795689 meters looking forward 0.000000 meters along route # Maximum depth: 697.795689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 657.795689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853519; longitude = -118.701416; captureRadius = 10; duration = 59; initialDepth = 658.026131; finalDepth = 657.795689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:657.795689 # Seafloor depth:-697.795689 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 698.026131 meters looking forward 0.000000 meters along route # Maximum depth: 698.026131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 658.026131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853970; longitude = -118.701486; captureRadius = 10; duration = 59; initialDepth = 657.158860; finalDepth = 658.026131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:658.026131 # Seafloor depth:-698.026131 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 697.158860 meters looking forward 0.000000 meters along route # Maximum depth: 697.158860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 657.158860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854420; longitude = -118.701555; captureRadius = 10; duration = 59; initialDepth = 655.863935; finalDepth = 657.158860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:657.15886 # Seafloor depth:-697.158860 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 695.863935 meters looking forward 0.000000 meters along route # Maximum depth: 695.863935 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 655.863935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854871; longitude = -118.701625; captureRadius = 10; duration = 59; initialDepth = 657.018979; finalDepth = 655.863935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:655.863935 # Seafloor depth:-695.863935 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 697.018979 meters looking forward 0.000000 meters along route # Maximum depth: 697.018979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 657.018979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855322; longitude = -118.701694; captureRadius = 10; duration = 59; initialDepth = 657.449571; finalDepth = 657.018979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:657.018979 # Seafloor depth:-697.018979 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 697.449571 meters looking forward 0.000000 meters along route # Maximum depth: 697.449571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 657.449571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855773; longitude = -118.701764; captureRadius = 10; duration = 59; initialDepth = 652.052283; finalDepth = 657.449571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:657.449571 # Seafloor depth:-697.449571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 692.052283 meters looking forward 0.000000 meters along route # Maximum depth: 692.052283 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 652.052283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856224; longitude = -118.701833; captureRadius = 10; duration = 59; initialDepth = 641.945463; finalDepth = 652.052283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:652.052283 # Seafloor depth:-692.052283 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 681.945463 meters looking forward 0.000000 meters along route # Maximum depth: 681.945463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.945463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856675; longitude = -118.701903; captureRadius = 10; duration = 59; initialDepth = 633.666171; finalDepth = 641.945463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:641.945463 # Seafloor depth:-681.945463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 673.666171 meters looking forward 0.000000 meters along route # Maximum depth: 673.666171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 633.666171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857126; longitude = -118.701972; captureRadius = 10; duration = 59; initialDepth = 624.337259; finalDepth = 633.666171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:633.666171 # Seafloor depth:-673.666171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 664.337259 meters looking forward 0.000000 meters along route # Maximum depth: 664.337259 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.337259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857577; longitude = -118.702041; captureRadius = 10; duration = 59; initialDepth = 619.028237; finalDepth = 624.337259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:624.337259 # Seafloor depth:-664.337259 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 659.028237 meters looking forward 0.000000 meters along route # Maximum depth: 659.028237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.028237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858028; longitude = -118.702111; captureRadius = 10; duration = 59; initialDepth = 617.171299; finalDepth = 619.028237; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.028237 # Seafloor depth:-659.028237 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 657.171299 meters looking forward 0.000000 meters along route # Maximum depth: 657.171299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.171299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858479; longitude = -118.702180; captureRadius = 10; duration = 59; initialDepth = 617.375654; finalDepth = 617.171299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:617.171299 # Seafloor depth:-657.171299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 657.375654 meters looking forward 0.000000 meters along route # Maximum depth: 657.375654 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.375654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858929; longitude = -118.702250; captureRadius = 10; duration = 59; initialDepth = 620.798393; finalDepth = 617.375654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:617.375654 # Seafloor depth:-657.375654 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 660.798393 meters looking forward 0.000000 meters along route # Maximum depth: 660.798393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.798393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859380; longitude = -118.702319; captureRadius = 10; duration = 59; initialDepth = 621.485547; finalDepth = 620.798393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:620.798393 # Seafloor depth:-660.798393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 661.485547 meters looking forward 0.000000 meters along route # Maximum depth: 661.485547 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.485547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859831; longitude = -118.702389; captureRadius = 10; duration = 59; initialDepth = 622.213122; finalDepth = 621.485547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:621.485547 # Seafloor depth:-661.485547 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 662.213122 meters looking forward 0.000000 meters along route # Maximum depth: 662.213122 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.213122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860282; longitude = -118.702458; captureRadius = 10; duration = 59; initialDepth = 622.562678; finalDepth = 622.213122; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:622.213122 # Seafloor depth:-662.213122 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 662.562678 meters looking forward 0.000000 meters along route # Maximum depth: 662.562678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.562678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860733; longitude = -118.702528; captureRadius = 10; duration = 59; initialDepth = 624.575545; finalDepth = 622.562678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:622.562678 # Seafloor depth:-662.562678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 664.575545 meters looking forward 0.000000 meters along route # Maximum depth: 664.575545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.575545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861184; longitude = -118.702597; captureRadius = 10; duration = 59; initialDepth = 627.465842; finalDepth = 624.575545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:624.575545 # Seafloor depth:-664.575545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 667.465842 meters looking forward 0.000000 meters along route # Maximum depth: 667.465842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.465842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861635; longitude = -118.702667; captureRadius = 10; duration = 59; initialDepth = 629.071945; finalDepth = 627.465842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:627.465842 # Seafloor depth:-667.465842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 669.071945 meters looking forward 0.000000 meters along route # Maximum depth: 669.071945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 629.071945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862086; longitude = -118.702736; captureRadius = 10; duration = 59; initialDepth = 628.540032; finalDepth = 629.071945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:629.071945 # Seafloor depth:-669.071945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 668.540032 meters looking forward 0.000000 meters along route # Maximum depth: 668.540032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.540032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862537; longitude = -118.702806; captureRadius = 10; duration = 59; initialDepth = 628.444547; finalDepth = 628.540032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:628.540032 # Seafloor depth:-668.540032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 668.444547 meters looking forward 0.000000 meters along route # Maximum depth: 668.444547 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.444547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862988; longitude = -118.702875; captureRadius = 10; duration = 59; initialDepth = 627.364847; finalDepth = 628.444547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:628.444547 # Seafloor depth:-668.444547 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 667.364847 meters looking forward 0.000000 meters along route # Maximum depth: 667.364847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.364847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863439; longitude = -118.702945; captureRadius = 10; duration = 59; initialDepth = 620.197568; finalDepth = 627.364847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:627.364847 # Seafloor depth:-667.364847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 660.197568 meters looking forward 0.000000 meters along route # Maximum depth: 660.197568 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.197568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863889; longitude = -118.703014; captureRadius = 10; duration = 59; initialDepth = 605.518317; finalDepth = 620.197568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:620.197568 # Seafloor depth:-660.197568 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 645.518317 meters looking forward 0.000000 meters along route # Maximum depth: 645.518317 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.518317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864340; longitude = -118.703084; captureRadius = 10; duration = 59; initialDepth = 594.248525; finalDepth = 605.518317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.518317 # Seafloor depth:-645.518317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 634.248525 meters looking forward 0.000000 meters along route # Maximum depth: 634.248525 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.248525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864791; longitude = -118.703153; captureRadius = 10; duration = 59; initialDepth = 586.987689; finalDepth = 594.248525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.248525 # Seafloor depth:-634.248525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 626.987689 meters looking forward 0.000000 meters along route # Maximum depth: 626.987689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.987689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865242; longitude = -118.703223; captureRadius = 10; duration = 59; initialDepth = 581.143671; finalDepth = 586.987689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.987689 # Seafloor depth:-626.987689 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 621.143671 meters looking forward 0.000000 meters along route # Maximum depth: 621.143671 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.143671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865693; longitude = -118.703292; captureRadius = 10; duration = 59; initialDepth = 582.141866; finalDepth = 581.143671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.143671 # Seafloor depth:-621.143671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 622.141866 meters looking forward 0.000000 meters along route # Maximum depth: 622.141866 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.141866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866144; longitude = -118.703362; captureRadius = 10; duration = 59; initialDepth = 585.236472; finalDepth = 582.141866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.141866 # Seafloor depth:-622.141866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 625.236472 meters looking forward 0.000000 meters along route # Maximum depth: 625.236472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.236472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866595; longitude = -118.703431; captureRadius = 10; duration = 59; initialDepth = 588.350642; finalDepth = 585.236472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.236472 # Seafloor depth:-625.236472 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 628.350642 meters looking forward 0.000000 meters along route # Maximum depth: 628.350642 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.350642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867046; longitude = -118.703501; captureRadius = 10; duration = 59; initialDepth = 591.594019; finalDepth = 588.350642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.350642 # Seafloor depth:-628.350642 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 631.594019 meters looking forward 0.000000 meters along route # Maximum depth: 631.594019 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.594019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867497; longitude = -118.703570; captureRadius = 10; duration = 59; initialDepth = 594.650676; finalDepth = 591.594019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.594019 # Seafloor depth:-631.594019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 634.650676 meters looking forward 0.000000 meters along route # Maximum depth: 634.650676 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.650676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867948; longitude = -118.703640; captureRadius = 10; duration = 59; initialDepth = 596.606225; finalDepth = 594.650676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.650676 # Seafloor depth:-634.650676 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 636.606225 meters looking forward 0.000000 meters along route # Maximum depth: 636.606225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.606225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868398; longitude = -118.703709; captureRadius = 10; duration = 59; initialDepth = 592.979771; finalDepth = 596.606225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.606225 # Seafloor depth:-636.606225 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 632.979771 meters looking forward 0.000000 meters along route # Maximum depth: 632.979771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 592.979771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868849; longitude = -118.703779; captureRadius = 10; duration = 59; initialDepth = 580.529086; finalDepth = 592.979771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:592.979771 # Seafloor depth:-632.979771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 620.529086 meters looking forward 0.000000 meters along route # Maximum depth: 620.529086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.529086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869300; longitude = -118.703848; captureRadius = 10; duration = 59; initialDepth = 563.315332; finalDepth = 580.529086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.529086 # Seafloor depth:-620.529086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 603.315332 meters looking forward 0.000000 meters along route # Maximum depth: 603.315332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.315332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869751; longitude = -118.703918; captureRadius = 10; duration = 59; initialDepth = 554.766264; finalDepth = 563.315332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.315332 # Seafloor depth:-603.315332 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 594.766264 meters looking forward 0.000000 meters along route # Maximum depth: 594.766264 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.766264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870202; longitude = -118.703987; captureRadius = 10; duration = 59; initialDepth = 548.790209; finalDepth = 554.766264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.766264 # Seafloor depth:-594.766264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 588.790209 meters looking forward 0.000000 meters along route # Maximum depth: 588.790209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.790209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870653; longitude = -118.704057; captureRadius = 10; duration = 59; initialDepth = 547.143524; finalDepth = 548.790209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:548.790209 # Seafloor depth:-588.790209 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 587.143524 meters looking forward 0.000000 meters along route # Maximum depth: 587.143524 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.143524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871104; longitude = -118.704126; captureRadius = 10; duration = 59; initialDepth = 546.864489; finalDepth = 547.143524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.143524 # Seafloor depth:-587.143524 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 586.864489 meters looking forward 0.000000 meters along route # Maximum depth: 586.864489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.864489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871555; longitude = -118.704196; captureRadius = 10; duration = 59; initialDepth = 545.736997; finalDepth = 546.864489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:546.864489 # Seafloor depth:-586.864489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 585.736997 meters looking forward 0.000000 meters along route # Maximum depth: 585.736997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.736997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872006; longitude = -118.704265; captureRadius = 10; duration = 59; initialDepth = 543.565220; finalDepth = 545.736997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.736997 # Seafloor depth:-585.736997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 583.565220 meters looking forward 0.000000 meters along route # Maximum depth: 583.565220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.565220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872457; longitude = -118.704335; captureRadius = 10; duration = 59; initialDepth = 541.626293; finalDepth = 543.565220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.56522 # Seafloor depth:-583.565220 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 581.626293 meters looking forward 0.000000 meters along route # Maximum depth: 581.626293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.626293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872908; longitude = -118.704404; captureRadius = 10; duration = 59; initialDepth = 537.741200; finalDepth = 541.626293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.626293 # Seafloor depth:-581.626293 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 577.741200 meters looking forward 0.000000 meters along route # Maximum depth: 577.741200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.741200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873358; longitude = -118.704474; captureRadius = 10; duration = 59; initialDepth = 533.600825; finalDepth = 537.741200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.7412 # Seafloor depth:-577.741200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 573.600825 meters looking forward 0.000000 meters along route # Maximum depth: 573.600825 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.600825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873809; longitude = -118.704543; captureRadius = 10; duration = 59; initialDepth = 529.988740; finalDepth = 533.600825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:533.600825 # Seafloor depth:-573.600825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 569.988740 meters looking forward 0.000000 meters along route # Maximum depth: 569.988740 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.988740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874260; longitude = -118.704613; captureRadius = 10; duration = 59; initialDepth = 527.013127; finalDepth = 529.988740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:529.98874 # Seafloor depth:-569.988740 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 567.013127 meters looking forward 0.000000 meters along route # Maximum depth: 567.013127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.013127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874711; longitude = -118.704682; captureRadius = 10; duration = 59; initialDepth = 524.528669; finalDepth = 527.013127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:527.013127 # Seafloor depth:-567.013127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 564.528669 meters looking forward 0.000000 meters along route # Maximum depth: 564.528669 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 524.528669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875162; longitude = -118.704752; captureRadius = 10; duration = 59; initialDepth = 521.956741; finalDepth = 524.528669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:524.528669 # Seafloor depth:-564.528669 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 561.956741 meters looking forward 0.000000 meters along route # Maximum depth: 561.956741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.956741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875613; longitude = -118.704821; captureRadius = 10; duration = 59; initialDepth = 520.033125; finalDepth = 521.956741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:521.956741 # Seafloor depth:-561.956741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 560.033125 meters looking forward 0.000000 meters along route # Maximum depth: 560.033125 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.033125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876064; longitude = -118.704891; captureRadius = 10; duration = 59; initialDepth = 520.627956; finalDepth = 520.033125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:520.033125 # Seafloor depth:-560.033125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 560.627956 meters looking forward 0.000000 meters along route # Maximum depth: 560.627956 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.627956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876515; longitude = -118.704960; captureRadius = 10; duration = 59; initialDepth = 523.202998; finalDepth = 520.627956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:520.627956 # Seafloor depth:-560.627956 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 563.202998 meters looking forward 0.000000 meters along route # Maximum depth: 563.202998 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.202998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876966; longitude = -118.705030; captureRadius = 10; duration = 59; initialDepth = 525.265579; finalDepth = 523.202998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:523.202998 # Seafloor depth:-563.202998 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 565.265579 meters looking forward 0.000000 meters along route # Maximum depth: 565.265579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.265579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877417; longitude = -118.705099; captureRadius = 10; duration = 59; initialDepth = 524.950328; finalDepth = 525.265579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:525.265579 # Seafloor depth:-565.265579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 564.950328 meters looking forward 0.000000 meters along route # Maximum depth: 564.950328 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 524.950328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877868; longitude = -118.705169; captureRadius = 10; duration = 59; initialDepth = 521.783166; finalDepth = 524.950328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:524.950328 # Seafloor depth:-564.950328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 561.783166 meters looking forward 0.000000 meters along route # Maximum depth: 561.783166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.783166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878318; longitude = -118.705238; captureRadius = 10; duration = 59; initialDepth = 518.161528; finalDepth = 521.783166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:521.783166 # Seafloor depth:-561.783166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 558.161528 meters looking forward 0.000000 meters along route # Maximum depth: 558.161528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.161528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878769; longitude = -118.705308; captureRadius = 10; duration = 59; initialDepth = 513.498433; finalDepth = 518.161528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.161528 # Seafloor depth:-558.161528 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 553.498433 meters looking forward 0.000000 meters along route # Maximum depth: 553.498433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.498433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879220; longitude = -118.705377; captureRadius = 10; duration = 59; initialDepth = 509.634237; finalDepth = 513.498433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.498433 # Seafloor depth:-553.498433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 549.634237 meters looking forward 0.000000 meters along route # Maximum depth: 549.634237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.634237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879671; longitude = -118.705446; captureRadius = 10; duration = 59; initialDepth = 506.774691; finalDepth = 509.634237; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:509.634237 # Seafloor depth:-549.634237 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 546.774691 meters looking forward 0.000000 meters along route # Maximum depth: 546.774691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.774691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880122; longitude = -118.705516; captureRadius = 10; duration = 59; initialDepth = 503.026655; finalDepth = 506.774691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.774691 # Seafloor depth:-546.774691 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 543.026655 meters looking forward 0.000000 meters along route # Maximum depth: 543.026655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.026655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880573; longitude = -118.705585; captureRadius = 10; duration = 59; initialDepth = 501.281166; finalDepth = 503.026655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.026655 # Seafloor depth:-543.026655 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 541.281166 meters looking forward 0.000000 meters along route # Maximum depth: 541.281166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.281166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881024; longitude = -118.705655; captureRadius = 10; duration = 59; initialDepth = 499.716182; finalDepth = 501.281166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:501.281166 # Seafloor depth:-541.281166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 539.716182 meters looking forward 0.000000 meters along route # Maximum depth: 539.716182 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.716182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881475; longitude = -118.705724; captureRadius = 10; duration = 59; initialDepth = 498.701969; finalDepth = 499.716182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.716182 # Seafloor depth:-539.716182 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 538.701969 meters looking forward 0.000000 meters along route # Maximum depth: 538.701969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.701969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881926; longitude = -118.705794; captureRadius = 10; duration = 59; initialDepth = 499.462041; finalDepth = 498.701969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.701969 # Seafloor depth:-538.701969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 539.462041 meters looking forward 0.000000 meters along route # Maximum depth: 539.462041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.462041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882377; longitude = -118.705863; captureRadius = 10; duration = 59; initialDepth = 502.525305; finalDepth = 499.462041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.462041 # Seafloor depth:-539.462041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 542.525305 meters looking forward 0.000000 meters along route # Maximum depth: 542.525305 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.525305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882827; longitude = -118.705933; captureRadius = 10; duration = 59; initialDepth = 505.609957; finalDepth = 502.525305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:502.525305 # Seafloor depth:-542.525305 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 545.609957 meters looking forward 0.000000 meters along route # Maximum depth: 545.609957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.609957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883278; longitude = -118.706002; captureRadius = 10; duration = 59; initialDepth = 504.049013; finalDepth = 505.609957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.609957 # Seafloor depth:-545.609957 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 544.049013 meters looking forward 0.000000 meters along route # Maximum depth: 544.049013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.049013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883729; longitude = -118.706072; captureRadius = 10; duration = 59; initialDepth = 498.533000; finalDepth = 504.049013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.049013 # Seafloor depth:-544.049013 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 538.533000 meters looking forward 0.000000 meters along route # Maximum depth: 538.533000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.533000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884180; longitude = -118.706141; captureRadius = 10; duration = 59; initialDepth = 494.441958; finalDepth = 498.533000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.533 # Seafloor depth:-538.533000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 534.441958 meters looking forward 0.000000 meters along route # Maximum depth: 534.441958 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.441958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884631; longitude = -118.706211; captureRadius = 10; duration = 59; initialDepth = 492.839654; finalDepth = 494.441958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:494.441958 # Seafloor depth:-534.441958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 532.839654 meters looking forward 0.000000 meters along route # Maximum depth: 532.839654 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 492.839654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885082; longitude = -118.706280; captureRadius = 10; duration = 59; initialDepth = 490.521918; finalDepth = 492.839654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:492.839654 # Seafloor depth:-532.839654 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 59.325926 meters # Minimum depth: 530.521918 meters looking forward 0.000000 meters along route # Maximum depth: 530.521918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.521918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885549; longitude = -118.706352; captureRadius = 10; duration = 59; initialDepth = 489.585327; finalDepth = 490.521918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:490.521918 # Seafloor depth:-530.521918 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 151 # Segment length 59.325926 meters # Minimum depth: 529.585327 meters looking forward 0.000000 meters along route # Maximum depth: 529.585327 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.585327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.886014; longitude = -118.706424; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 489.515350; finalDepth = 489.585327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.585327 # Seafloor depth:-529.585327 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 151 # Segment length 59.325926 meters # Minimum depth: 529.515350 meters looking forward 0.000000 meters along route # Maximum depth: 529.515350 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.515350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.886019; longitude = -118.706352; captureRadius = 10; duration = 59; initialDepth = 489.504045; finalDepth = 489.515350; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.51535 # Seafloor depth:-529.515350 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 151 # Segment length 59.325926 meters # Minimum depth: 529.504045 meters looking forward 0.000000 meters along route # Maximum depth: 529.504045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.504045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.886056; longitude = -118.705812; captureRadius = 10; duration = 59; initialDepth = 489.747302; finalDepth = 489.504045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.504045 # Seafloor depth:-529.504045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 151 # Segment length 59.325926 meters # Minimum depth: 529.747302 meters looking forward 0.000000 meters along route # Maximum depth: 529.747302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.747302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.886092; longitude = -118.705272; captureRadius = 10; duration = 59; initialDepth = 489.877808; finalDepth = 489.747302; 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:489.747302 # Seafloor depth:-529.747302 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 150 # Segment length 59.325926 meters # Minimum depth: 529.877808 meters looking forward 0.000000 meters along route # Maximum depth: 529.877808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.877808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.886134; longitude = -118.704660; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 489.995607; finalDepth = 489.877808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.877808 # Seafloor depth:-529.877808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 529.995607 meters looking forward 0.000000 meters along route # Maximum depth: 529.995607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.995607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.886074; longitude = -118.704651; captureRadius = 10; duration = 59; initialDepth = 493.471483; finalDepth = 489.995607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.995607 # Seafloor depth:-529.995607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 533.471483 meters looking forward 0.000000 meters along route # Maximum depth: 533.471483 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 493.471483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885623; longitude = -118.704580; captureRadius = 10; duration = 59; initialDepth = 496.495780; finalDepth = 493.471483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:493.471483 # Seafloor depth:-533.471483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 536.495780 meters looking forward 0.000000 meters along route # Maximum depth: 536.495780 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.495780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885172; longitude = -118.704509; captureRadius = 10; duration = 59; initialDepth = 497.970403; finalDepth = 496.495780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:496.49578 # Seafloor depth:-536.495780 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 537.970403 meters looking forward 0.000000 meters along route # Maximum depth: 537.970403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 497.970403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884721; longitude = -118.704438; captureRadius = 10; duration = 59; initialDepth = 498.900845; finalDepth = 497.970403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:497.970403 # Seafloor depth:-537.970403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 538.900845 meters looking forward 0.000000 meters along route # Maximum depth: 538.900845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.900845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884270; longitude = -118.704368; captureRadius = 10; duration = 59; initialDepth = 500.438478; finalDepth = 498.900845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.900845 # Seafloor depth:-538.900845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 540.438478 meters looking forward 0.000000 meters along route # Maximum depth: 540.438478 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.438478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883819; longitude = -118.704297; captureRadius = 10; duration = 59; initialDepth = 501.618790; finalDepth = 500.438478; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.438478 # Seafloor depth:-540.438478 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 541.618790 meters looking forward 0.000000 meters along route # Maximum depth: 541.618790 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.618790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883369; longitude = -118.704226; captureRadius = 10; duration = 59; initialDepth = 501.176721; finalDepth = 501.618790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:501.61879 # Seafloor depth:-541.618790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 541.176721 meters looking forward 0.000000 meters along route # Maximum depth: 541.176721 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.176721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882918; longitude = -118.704155; captureRadius = 10; duration = 59; initialDepth = 499.677992; finalDepth = 501.176721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:501.176721 # Seafloor depth:-541.176721 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 539.677992 meters looking forward 0.000000 meters along route # Maximum depth: 539.677992 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.677992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882467; longitude = -118.704085; captureRadius = 10; duration = 59; initialDepth = 498.112063; finalDepth = 499.677992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.677992 # Seafloor depth:-539.677992 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 538.112063 meters looking forward 0.000000 meters along route # Maximum depth: 538.112063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.112063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882016; longitude = -118.704014; captureRadius = 10; duration = 59; initialDepth = 498.061437; finalDepth = 498.112063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.112063 # Seafloor depth:-538.112063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 538.061437 meters looking forward 0.000000 meters along route # Maximum depth: 538.061437 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.061437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881565; longitude = -118.703943; captureRadius = 10; duration = 59; initialDepth = 498.737369; finalDepth = 498.061437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.061437 # Seafloor depth:-538.061437 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 538.737369 meters looking forward 0.000000 meters along route # Maximum depth: 538.737369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.737369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881114; longitude = -118.703872; captureRadius = 10; duration = 59; initialDepth = 500.104373; finalDepth = 498.737369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.737369 # Seafloor depth:-538.737369 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 540.104373 meters looking forward 0.000000 meters along route # Maximum depth: 540.104373 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.104373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880663; longitude = -118.703802; captureRadius = 10; duration = 59; initialDepth = 503.351193; finalDepth = 500.104373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.104373 # Seafloor depth:-540.104373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 543.351193 meters looking forward 0.000000 meters along route # Maximum depth: 543.351193 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.351193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880212; longitude = -118.703731; captureRadius = 10; duration = 59; initialDepth = 507.139542; finalDepth = 503.351193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.351193 # Seafloor depth:-543.351193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 547.139542 meters looking forward 0.000000 meters along route # Maximum depth: 547.139542 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.139542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879761; longitude = -118.703660; captureRadius = 10; duration = 59; initialDepth = 512.018544; finalDepth = 507.139542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:507.139542 # Seafloor depth:-547.139542 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 552.018544 meters looking forward 0.000000 meters along route # Maximum depth: 552.018544 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 512.018544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879310; longitude = -118.703590; captureRadius = 10; duration = 59; initialDepth = 516.089201; finalDepth = 512.018544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:512.018544 # Seafloor depth:-552.018544 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 556.089201 meters looking forward 0.000000 meters along route # Maximum depth: 556.089201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.089201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878859; longitude = -118.703519; captureRadius = 10; duration = 59; initialDepth = 518.256925; finalDepth = 516.089201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:516.089201 # Seafloor depth:-556.089201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 558.256925 meters looking forward 0.000000 meters along route # Maximum depth: 558.256925 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.256925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878409; longitude = -118.703448; captureRadius = 10; duration = 59; initialDepth = 520.614564; finalDepth = 518.256925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.256925 # Seafloor depth:-558.256925 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 560.614564 meters looking forward 0.000000 meters along route # Maximum depth: 560.614564 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.614564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877958; longitude = -118.703377; captureRadius = 10; duration = 59; initialDepth = 520.821126; finalDepth = 520.614564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:520.614564 # Seafloor depth:-560.614564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 560.821126 meters looking forward 0.000000 meters along route # Maximum depth: 560.821126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.821126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877507; longitude = -118.703307; captureRadius = 10; duration = 59; initialDepth = 520.307065; finalDepth = 520.821126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:520.821126 # Seafloor depth:-560.821126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 560.307065 meters looking forward 0.000000 meters along route # Maximum depth: 560.307065 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.307065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877056; longitude = -118.703236; captureRadius = 10; duration = 59; initialDepth = 519.153460; finalDepth = 520.307065; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:520.307065 # Seafloor depth:-560.307065 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 559.153460 meters looking forward 0.000000 meters along route # Maximum depth: 559.153460 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 519.153460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876605; longitude = -118.703165; captureRadius = 10; duration = 59; initialDepth = 519.599060; finalDepth = 519.153460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:519.15346 # Seafloor depth:-559.153460 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 559.599060 meters looking forward 0.000000 meters along route # Maximum depth: 559.599060 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 519.599060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876154; longitude = -118.703094; captureRadius = 10; duration = 59; initialDepth = 524.571430; finalDepth = 519.599060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:519.59906 # Seafloor depth:-559.599060 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 564.571430 meters looking forward 0.000000 meters along route # Maximum depth: 564.571430 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 524.571430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875703; longitude = -118.703024; captureRadius = 10; duration = 59; initialDepth = 526.987633; finalDepth = 524.571430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:524.57143 # Seafloor depth:-564.571430 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 566.987633 meters looking forward 0.000000 meters along route # Maximum depth: 566.987633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 526.987633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875252; longitude = -118.702953; captureRadius = 10; duration = 59; initialDepth = 530.536358; finalDepth = 526.987633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:526.987633 # Seafloor depth:-566.987633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 570.536358 meters looking forward 0.000000 meters along route # Maximum depth: 570.536358 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.536358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874801; longitude = -118.702882; captureRadius = 10; duration = 59; initialDepth = 534.330718; finalDepth = 530.536358; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.536358 # Seafloor depth:-570.536358 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 574.330718 meters looking forward 0.000000 meters along route # Maximum depth: 574.330718 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.330718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874350; longitude = -118.702811; captureRadius = 10; duration = 59; initialDepth = 536.898371; finalDepth = 534.330718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.330718 # Seafloor depth:-574.330718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 576.898371 meters looking forward 0.000000 meters along route # Maximum depth: 576.898371 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.898371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873900; longitude = -118.702741; captureRadius = 10; duration = 59; initialDepth = 538.717628; finalDepth = 536.898371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.898371 # Seafloor depth:-576.898371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 578.717628 meters looking forward 0.000000 meters along route # Maximum depth: 578.717628 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.717628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873449; longitude = -118.702670; captureRadius = 10; duration = 59; initialDepth = 539.807609; finalDepth = 538.717628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.717628 # Seafloor depth:-578.717628 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 579.807609 meters looking forward 0.000000 meters along route # Maximum depth: 579.807609 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.807609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872998; longitude = -118.702599; captureRadius = 10; duration = 59; initialDepth = 540.551178; finalDepth = 539.807609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.807609 # Seafloor depth:-579.807609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 580.551178 meters looking forward 0.000000 meters along route # Maximum depth: 580.551178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.551178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872547; longitude = -118.702529; captureRadius = 10; duration = 59; initialDepth = 541.240822; finalDepth = 540.551178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.551178 # Seafloor depth:-580.551178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 581.240822 meters looking forward 0.000000 meters along route # Maximum depth: 581.240822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.240822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872096; longitude = -118.702458; captureRadius = 10; duration = 59; initialDepth = 542.226552; finalDepth = 541.240822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.240822 # Seafloor depth:-581.240822 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 582.226552 meters looking forward 0.000000 meters along route # Maximum depth: 582.226552 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.226552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871645; longitude = -118.702387; captureRadius = 10; duration = 59; initialDepth = 546.746761; finalDepth = 542.226552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.226552 # Seafloor depth:-582.226552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 586.746761 meters looking forward 0.000000 meters along route # Maximum depth: 586.746761 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.746761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871194; longitude = -118.702316; captureRadius = 10; duration = 59; initialDepth = 551.566217; finalDepth = 546.746761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:546.746761 # Seafloor depth:-586.746761 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 591.566217 meters looking forward 0.000000 meters along route # Maximum depth: 591.566217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.566217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870743; longitude = -118.702246; captureRadius = 10; duration = 59; initialDepth = 556.376024; finalDepth = 551.566217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.566217 # Seafloor depth:-591.566217 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 596.376024 meters looking forward 0.000000 meters along route # Maximum depth: 596.376024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.376024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870292; longitude = -118.702175; captureRadius = 10; duration = 59; initialDepth = 560.949952; finalDepth = 556.376024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.376024 # Seafloor depth:-596.376024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 600.949952 meters looking forward 0.000000 meters along route # Maximum depth: 600.949952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.949952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869841; longitude = -118.702104; captureRadius = 10; duration = 59; initialDepth = 567.137795; finalDepth = 560.949952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.949952 # Seafloor depth:-600.949952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 607.137795 meters looking forward 0.000000 meters along route # Maximum depth: 607.137795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 567.137795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869390; longitude = -118.702033; captureRadius = 10; duration = 59; initialDepth = 579.722789; finalDepth = 567.137795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:567.137795 # Seafloor depth:-607.137795 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 619.722789 meters looking forward 0.000000 meters along route # Maximum depth: 619.722789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.722789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868940; longitude = -118.701963; captureRadius = 10; duration = 59; initialDepth = 586.951905; finalDepth = 579.722789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.722789 # Seafloor depth:-619.722789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 626.951905 meters looking forward 0.000000 meters along route # Maximum depth: 626.951905 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.951905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868489; longitude = -118.701892; captureRadius = 10; duration = 59; initialDepth = 588.953996; finalDepth = 586.951905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.951905 # Seafloor depth:-626.951905 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 628.953996 meters looking forward 0.000000 meters along route # Maximum depth: 628.953996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.953996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868038; longitude = -118.701821; captureRadius = 10; duration = 59; initialDepth = 589.957818; finalDepth = 588.953996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.953996 # Seafloor depth:-628.953996 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 629.957818 meters looking forward 0.000000 meters along route # Maximum depth: 629.957818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.957818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867587; longitude = -118.701750; captureRadius = 10; duration = 59; initialDepth = 590.254040; finalDepth = 589.957818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.957818 # Seafloor depth:-629.957818 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 630.254040 meters looking forward 0.000000 meters along route # Maximum depth: 630.254040 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.254040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867136; longitude = -118.701680; captureRadius = 10; duration = 59; initialDepth = 589.812604; finalDepth = 590.254040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.25404 # Seafloor depth:-630.254040 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 629.812604 meters looking forward 0.000000 meters along route # Maximum depth: 629.812604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.812604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866685; longitude = -118.701609; captureRadius = 10; duration = 59; initialDepth = 590.132575; finalDepth = 589.812604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.812604 # Seafloor depth:-629.812604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 630.132575 meters looking forward 0.000000 meters along route # Maximum depth: 630.132575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.132575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866234; longitude = -118.701538; captureRadius = 10; duration = 59; initialDepth = 590.965850; finalDepth = 590.132575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.132575 # Seafloor depth:-630.132575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 630.965850 meters looking forward 0.000000 meters along route # Maximum depth: 630.965850 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.965850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865783; longitude = -118.701467; captureRadius = 10; duration = 59; initialDepth = 588.995390; finalDepth = 590.965850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.96585 # Seafloor depth:-630.965850 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 628.995390 meters looking forward 0.000000 meters along route # Maximum depth: 628.995390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.995390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865332; longitude = -118.701397; captureRadius = 10; duration = 59; initialDepth = 591.289252; finalDepth = 588.995390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.99539 # Seafloor depth:-628.995390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 631.289252 meters looking forward 0.000000 meters along route # Maximum depth: 631.289252 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.289252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864881; longitude = -118.701326; captureRadius = 10; duration = 59; initialDepth = 596.008204; finalDepth = 591.289252; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.289252 # Seafloor depth:-631.289252 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 636.008204 meters looking forward 0.000000 meters along route # Maximum depth: 636.008204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.008204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864431; longitude = -118.701255; captureRadius = 10; duration = 59; initialDepth = 602.101120; finalDepth = 596.008204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.008204 # Seafloor depth:-636.008204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 642.101120 meters looking forward 0.000000 meters along route # Maximum depth: 642.101120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 602.101120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863980; longitude = -118.701185; captureRadius = 10; duration = 59; initialDepth = 608.992084; finalDepth = 602.101120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:602.10112 # Seafloor depth:-642.101120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 648.992084 meters looking forward 0.000000 meters along route # Maximum depth: 648.992084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.992084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863529; longitude = -118.701114; captureRadius = 10; duration = 59; initialDepth = 614.855860; finalDepth = 608.992084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.992084 # Seafloor depth:-648.992084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 654.855860 meters looking forward 0.000000 meters along route # Maximum depth: 654.855860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 614.855860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863078; longitude = -118.701043; captureRadius = 10; duration = 59; initialDepth = 621.157511; finalDepth = 614.855860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:614.85586 # Seafloor depth:-654.855860 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 661.157511 meters looking forward 0.000000 meters along route # Maximum depth: 661.157511 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.157511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862627; longitude = -118.700972; captureRadius = 10; duration = 59; initialDepth = 624.384867; finalDepth = 621.157511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:621.157511 # Seafloor depth:-661.157511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 664.384867 meters looking forward 0.000000 meters along route # Maximum depth: 664.384867 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.384867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862176; longitude = -118.700902; captureRadius = 10; duration = 59; initialDepth = 627.429845; finalDepth = 624.384867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:624.384867 # Seafloor depth:-664.384867 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 667.429845 meters looking forward 0.000000 meters along route # Maximum depth: 667.429845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.429845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861725; longitude = -118.700831; captureRadius = 10; duration = 59; initialDepth = 624.853178; finalDepth = 627.429845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:627.429845 # Seafloor depth:-667.429845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 664.853178 meters looking forward 0.000000 meters along route # Maximum depth: 664.853178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.853178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861274; longitude = -118.700760; captureRadius = 10; duration = 59; initialDepth = 619.411263; finalDepth = 624.853178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:624.853178 # Seafloor depth:-664.853178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 659.411263 meters looking forward 0.000000 meters along route # Maximum depth: 659.411263 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.411263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860823; longitude = -118.700689; captureRadius = 10; duration = 59; initialDepth = 612.043055; finalDepth = 619.411263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.411263 # Seafloor depth:-659.411263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 652.043055 meters looking forward 0.000000 meters along route # Maximum depth: 652.043055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.043055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860372; longitude = -118.700619; captureRadius = 10; duration = 59; initialDepth = 610.193021; finalDepth = 612.043055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:612.043055 # Seafloor depth:-652.043055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 650.193021 meters looking forward 0.000000 meters along route # Maximum depth: 650.193021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.193021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859921; longitude = -118.700548; captureRadius = 10; duration = 59; initialDepth = 611.152617; finalDepth = 610.193021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:610.193021 # Seafloor depth:-650.193021 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 651.152617 meters looking forward 0.000000 meters along route # Maximum depth: 651.152617 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.152617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859471; longitude = -118.700477; captureRadius = 10; duration = 59; initialDepth = 613.242548; finalDepth = 611.152617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:611.152617 # Seafloor depth:-651.152617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 653.242548 meters looking forward 0.000000 meters along route # Maximum depth: 653.242548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 613.242548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859020; longitude = -118.700406; captureRadius = 10; duration = 59; initialDepth = 615.940472; finalDepth = 613.242548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:613.242548 # Seafloor depth:-653.242548 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 655.940472 meters looking forward 0.000000 meters along route # Maximum depth: 655.940472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 615.940472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858569; longitude = -118.700336; captureRadius = 10; duration = 59; initialDepth = 619.955683; finalDepth = 615.940472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:615.940472 # Seafloor depth:-655.940472 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 659.955683 meters looking forward 0.000000 meters along route # Maximum depth: 659.955683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.955683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858118; longitude = -118.700265; captureRadius = 10; duration = 59; initialDepth = 626.224810; finalDepth = 619.955683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.955683 # Seafloor depth:-659.955683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 666.224810 meters looking forward 0.000000 meters along route # Maximum depth: 666.224810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 626.224810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857667; longitude = -118.700194; captureRadius = 10; duration = 59; initialDepth = 634.212508; finalDepth = 626.224810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:626.22481 # Seafloor depth:-666.224810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 674.212508 meters looking forward 0.000000 meters along route # Maximum depth: 674.212508 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.212508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857216; longitude = -118.700124; captureRadius = 10; duration = 59; initialDepth = 642.766372; finalDepth = 634.212508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:634.212508 # Seafloor depth:-674.212508 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 682.766372 meters looking forward 0.000000 meters along route # Maximum depth: 682.766372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.766372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856765; longitude = -118.700053; captureRadius = 10; duration = 59; initialDepth = 648.152939; finalDepth = 642.766372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:642.766372 # Seafloor depth:-682.766372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 688.152939 meters looking forward 0.000000 meters along route # Maximum depth: 688.152939 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 648.152939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856314; longitude = -118.699982; captureRadius = 10; duration = 59; initialDepth = 649.112829; finalDepth = 648.152939; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:648.152939 # Seafloor depth:-688.152939 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 689.112829 meters looking forward 0.000000 meters along route # Maximum depth: 689.112829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.112829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855863; longitude = -118.699911; captureRadius = 10; duration = 59; initialDepth = 649.976881; finalDepth = 649.112829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:649.112829 # Seafloor depth:-689.112829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 689.976881 meters looking forward 0.000000 meters along route # Maximum depth: 689.976881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.976881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855412; longitude = -118.699841; captureRadius = 10; duration = 59; initialDepth = 650.653975; finalDepth = 649.976881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:649.976881 # Seafloor depth:-689.976881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 690.653975 meters looking forward 0.000000 meters along route # Maximum depth: 690.653975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 650.653975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854962; longitude = -118.699770; captureRadius = 10; duration = 59; initialDepth = 652.714952; finalDepth = 650.653975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:650.653975 # Seafloor depth:-690.653975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 59.325926 meters # Minimum depth: 692.714952 meters looking forward 0.000000 meters along route # Maximum depth: 692.714952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 652.714952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854511; longitude = -118.699699; captureRadius = 10; duration = 59; initialDepth = 652.583328; finalDepth = 652.714952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:652.714952 # Seafloor depth:-692.714952 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 149 # Segment length 59.325926 meters # Minimum depth: 692.583328 meters looking forward 0.000000 meters along route # Maximum depth: 692.583328 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 652.583328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854000; longitude = -118.699619; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 650.423513; finalDepth = 652.583328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:652.583328 # Seafloor depth:-692.583328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 149 # Segment length 59.325926 meters # Minimum depth: 690.423513 meters looking forward 0.000000 meters along route # Maximum depth: 690.423513 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 650.423513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854123; longitude = -118.699223; captureRadius = 10; duration = 59; initialDepth = 648.620306; finalDepth = 650.423513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:650.423513 # Seafloor depth:-690.423513 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 149 # Segment length 59.325926 meters # Minimum depth: 688.620306 meters looking forward 0.000000 meters along route # Maximum depth: 688.620306 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 648.620306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854291; longitude = -118.698682; captureRadius = 10; duration = 59; initialDepth = 646.853546; finalDepth = 648.620306; 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:648.620306 # Seafloor depth:-688.620306 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 148 # Segment length 59.325926 meters # Minimum depth: 686.853546 meters looking forward 0.000000 meters along route # Maximum depth: 686.853546 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.853546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854481; longitude = -118.698070; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 644.378224; finalDepth = 646.853546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:646.853546 # Seafloor depth:-686.853546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 684.378224 meters looking forward 0.000000 meters along route # Maximum depth: 684.378224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.378224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854781; longitude = -118.698115; captureRadius = 10; duration = 59; initialDepth = 639.337959; finalDepth = 644.378224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:644.378224 # Seafloor depth:-684.378224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 679.337959 meters looking forward 0.000000 meters along route # Maximum depth: 679.337959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 639.337959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855232; longitude = -118.698183; captureRadius = 10; duration = 59; initialDepth = 634.024888; finalDepth = 639.337959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:639.337959 # Seafloor depth:-679.337959 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 674.024888 meters looking forward 0.000000 meters along route # Maximum depth: 674.024888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.024888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855683; longitude = -118.698250; captureRadius = 10; duration = 59; initialDepth = 628.640571; finalDepth = 634.024888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:634.024888 # Seafloor depth:-674.024888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 668.640571 meters looking forward 0.000000 meters along route # Maximum depth: 668.640571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.640571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856134; longitude = -118.698318; captureRadius = 10; duration = 59; initialDepth = 623.240613; finalDepth = 628.640571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:628.640571 # Seafloor depth:-668.640571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 663.240613 meters looking forward 0.000000 meters along route # Maximum depth: 663.240613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.240613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856585; longitude = -118.698386; captureRadius = 10; duration = 59; initialDepth = 615.269307; finalDepth = 623.240613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:623.240613 # Seafloor depth:-663.240613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 655.269307 meters looking forward 0.000000 meters along route # Maximum depth: 655.269307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 615.269307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857036; longitude = -118.698454; captureRadius = 10; duration = 59; initialDepth = 608.844942; finalDepth = 615.269307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:615.269307 # Seafloor depth:-655.269307 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 648.844942 meters looking forward 0.000000 meters along route # Maximum depth: 648.844942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.844942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857487; longitude = -118.698521; captureRadius = 10; duration = 59; initialDepth = 603.864352; finalDepth = 608.844942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.844942 # Seafloor depth:-648.844942 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 643.864352 meters looking forward 0.000000 meters along route # Maximum depth: 643.864352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.864352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857937; longitude = -118.698589; captureRadius = 10; duration = 59; initialDepth = 601.028075; finalDepth = 603.864352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:603.864352 # Seafloor depth:-643.864352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 641.028075 meters looking forward 0.000000 meters along route # Maximum depth: 641.028075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 601.028075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858388; longitude = -118.698657; captureRadius = 10; duration = 59; initialDepth = 600.042900; finalDepth = 601.028075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:601.028075 # Seafloor depth:-641.028075 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 640.042900 meters looking forward 0.000000 meters along route # Maximum depth: 640.042900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.042900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858839; longitude = -118.698724; captureRadius = 10; duration = 59; initialDepth = 596.720036; finalDepth = 600.042900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.0429 # Seafloor depth:-640.042900 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 636.720036 meters looking forward 0.000000 meters along route # Maximum depth: 636.720036 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.720036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859290; longitude = -118.698792; captureRadius = 10; duration = 59; initialDepth = 592.662863; finalDepth = 596.720036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.720036 # Seafloor depth:-636.720036 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 632.662863 meters looking forward 0.000000 meters along route # Maximum depth: 632.662863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 592.662863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859741; longitude = -118.698860; captureRadius = 10; duration = 59; initialDepth = 590.209276; finalDepth = 592.662863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:592.662863 # Seafloor depth:-632.662863 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 630.209276 meters looking forward 0.000000 meters along route # Maximum depth: 630.209276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.209276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860192; longitude = -118.698928; captureRadius = 10; duration = 59; initialDepth = 587.469051; finalDepth = 590.209276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.209276 # Seafloor depth:-630.209276 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 627.469051 meters looking forward 0.000000 meters along route # Maximum depth: 627.469051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.469051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860643; longitude = -118.698995; captureRadius = 10; duration = 59; initialDepth = 587.624896; finalDepth = 587.469051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.469051 # Seafloor depth:-627.469051 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 627.624896 meters looking forward 0.000000 meters along route # Maximum depth: 627.624896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.624896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861094; longitude = -118.699063; captureRadius = 10; duration = 59; initialDepth = 588.036754; finalDepth = 587.624896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.624896 # Seafloor depth:-627.624896 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 628.036754 meters looking forward 0.000000 meters along route # Maximum depth: 628.036754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.036754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861545; longitude = -118.699131; captureRadius = 10; duration = 59; initialDepth = 588.123134; finalDepth = 588.036754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.036754 # Seafloor depth:-628.036754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 628.123134 meters looking forward 0.000000 meters along route # Maximum depth: 628.123134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.123134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861996; longitude = -118.699198; captureRadius = 10; duration = 59; initialDepth = 587.274589; finalDepth = 588.123134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.123134 # Seafloor depth:-628.123134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 627.274589 meters looking forward 0.000000 meters along route # Maximum depth: 627.274589 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.274589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862447; longitude = -118.699266; captureRadius = 10; duration = 59; initialDepth = 587.494336; finalDepth = 587.274589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.274589 # Seafloor depth:-627.274589 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 627.494336 meters looking forward 0.000000 meters along route # Maximum depth: 627.494336 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.494336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862897; longitude = -118.699334; captureRadius = 10; duration = 59; initialDepth = 587.083314; finalDepth = 587.494336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.494336 # Seafloor depth:-627.494336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 627.083314 meters looking forward 0.000000 meters along route # Maximum depth: 627.083314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.083314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863348; longitude = -118.699401; captureRadius = 10; duration = 59; initialDepth = 586.312231; finalDepth = 587.083314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.083314 # Seafloor depth:-627.083314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 626.312231 meters looking forward 0.000000 meters along route # Maximum depth: 626.312231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.312231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863799; longitude = -118.699469; captureRadius = 10; duration = 59; initialDepth = 584.013607; finalDepth = 586.312231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.312231 # Seafloor depth:-626.312231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 624.013607 meters looking forward 0.000000 meters along route # Maximum depth: 624.013607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.013607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864250; longitude = -118.699537; captureRadius = 10; duration = 59; initialDepth = 584.448171; finalDepth = 584.013607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.013607 # Seafloor depth:-624.013607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 624.448171 meters looking forward 0.000000 meters along route # Maximum depth: 624.448171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.448171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864701; longitude = -118.699605; captureRadius = 10; duration = 59; initialDepth = 584.038903; finalDepth = 584.448171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.448171 # Seafloor depth:-624.448171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 624.038903 meters looking forward 0.000000 meters along route # Maximum depth: 624.038903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.038903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865152; longitude = -118.699672; captureRadius = 10; duration = 59; initialDepth = 583.278993; finalDepth = 584.038903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.038903 # Seafloor depth:-624.038903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 623.278993 meters looking forward 0.000000 meters along route # Maximum depth: 623.278993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.278993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865603; longitude = -118.699740; captureRadius = 10; duration = 59; initialDepth = 580.757202; finalDepth = 583.278993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:583.278993 # Seafloor depth:-623.278993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 620.757202 meters looking forward 0.000000 meters along route # Maximum depth: 620.757202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.757202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866054; longitude = -118.699808; captureRadius = 10; duration = 59; initialDepth = 579.962732; finalDepth = 580.757202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.757202 # Seafloor depth:-620.757202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 619.962732 meters looking forward 0.000000 meters along route # Maximum depth: 619.962732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.962732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866505; longitude = -118.699875; captureRadius = 10; duration = 59; initialDepth = 578.451306; finalDepth = 579.962732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.962732 # Seafloor depth:-619.962732 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 618.451306 meters looking forward 0.000000 meters along route # Maximum depth: 618.451306 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.451306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866956; longitude = -118.699943; captureRadius = 10; duration = 59; initialDepth = 575.904055; finalDepth = 578.451306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.451306 # Seafloor depth:-618.451306 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 615.904055 meters looking forward 0.000000 meters along route # Maximum depth: 615.904055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.904055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867406; longitude = -118.700011; captureRadius = 10; duration = 59; initialDepth = 572.875309; finalDepth = 575.904055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.904055 # Seafloor depth:-615.904055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 612.875309 meters looking forward 0.000000 meters along route # Maximum depth: 612.875309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.875309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867857; longitude = -118.700079; captureRadius = 10; duration = 59; initialDepth = 569.845793; finalDepth = 572.875309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:572.875309 # Seafloor depth:-612.875309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 609.845793 meters looking forward 0.000000 meters along route # Maximum depth: 609.845793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.845793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868308; longitude = -118.700146; captureRadius = 10; duration = 59; initialDepth = 566.569179; finalDepth = 569.845793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.845793 # Seafloor depth:-609.845793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 606.569179 meters looking forward 0.000000 meters along route # Maximum depth: 606.569179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.569179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868759; longitude = -118.700214; captureRadius = 10; duration = 59; initialDepth = 562.717584; finalDepth = 566.569179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:566.569179 # Seafloor depth:-606.569179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 602.717584 meters looking forward 0.000000 meters along route # Maximum depth: 602.717584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.717584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869210; longitude = -118.700282; captureRadius = 10; duration = 59; initialDepth = 559.154783; finalDepth = 562.717584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:562.717584 # Seafloor depth:-602.717584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 599.154783 meters looking forward 0.000000 meters along route # Maximum depth: 599.154783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.154783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869661; longitude = -118.700349; captureRadius = 10; duration = 59; initialDepth = 556.075297; finalDepth = 559.154783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.154783 # Seafloor depth:-599.154783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 596.075297 meters looking forward 0.000000 meters along route # Maximum depth: 596.075297 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.075297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870112; longitude = -118.700417; captureRadius = 10; duration = 59; initialDepth = 553.459077; finalDepth = 556.075297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.075297 # Seafloor depth:-596.075297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 593.459077 meters looking forward 0.000000 meters along route # Maximum depth: 593.459077 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.459077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870563; longitude = -118.700485; captureRadius = 10; duration = 59; initialDepth = 550.538416; finalDepth = 553.459077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.459077 # Seafloor depth:-593.459077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 590.538416 meters looking forward 0.000000 meters along route # Maximum depth: 590.538416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.538416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871014; longitude = -118.700552; captureRadius = 10; duration = 59; initialDepth = 546.042917; finalDepth = 550.538416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:550.538416 # Seafloor depth:-590.538416 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 586.042917 meters looking forward 0.000000 meters along route # Maximum depth: 586.042917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.042917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871465; longitude = -118.700620; captureRadius = 10; duration = 59; initialDepth = 542.775077; finalDepth = 546.042917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:546.042917 # Seafloor depth:-586.042917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 582.775077 meters looking forward 0.000000 meters along route # Maximum depth: 582.775077 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.775077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871916; longitude = -118.700688; captureRadius = 10; duration = 59; initialDepth = 541.036466; finalDepth = 542.775077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.775077 # Seafloor depth:-582.775077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 581.036466 meters looking forward 0.000000 meters along route # Maximum depth: 581.036466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.036466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872366; longitude = -118.700756; captureRadius = 10; duration = 59; initialDepth = 539.951995; finalDepth = 541.036466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.036466 # Seafloor depth:-581.036466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 579.951995 meters looking forward 0.000000 meters along route # Maximum depth: 579.951995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.951995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872817; longitude = -118.700823; captureRadius = 10; duration = 59; initialDepth = 538.943009; finalDepth = 539.951995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.951995 # Seafloor depth:-579.951995 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 578.943009 meters looking forward 0.000000 meters along route # Maximum depth: 578.943009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.943009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873268; longitude = -118.700891; captureRadius = 10; duration = 59; initialDepth = 537.432687; finalDepth = 538.943009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.943009 # Seafloor depth:-578.943009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 577.432687 meters looking forward 0.000000 meters along route # Maximum depth: 577.432687 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.432687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873719; longitude = -118.700959; captureRadius = 10; duration = 59; initialDepth = 537.030295; finalDepth = 537.432687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.432687 # Seafloor depth:-577.432687 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 577.030295 meters looking forward 0.000000 meters along route # Maximum depth: 577.030295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.030295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874170; longitude = -118.701026; captureRadius = 10; duration = 59; initialDepth = 536.730791; finalDepth = 537.030295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.030295 # Seafloor depth:-577.030295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 576.730791 meters looking forward 0.000000 meters along route # Maximum depth: 576.730791 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.730791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874621; longitude = -118.701094; captureRadius = 10; duration = 59; initialDepth = 533.143047; finalDepth = 536.730791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.730791 # Seafloor depth:-576.730791 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 573.143047 meters looking forward 0.000000 meters along route # Maximum depth: 573.143047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.143047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875072; longitude = -118.701162; captureRadius = 10; duration = 59; initialDepth = 528.971652; finalDepth = 533.143047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:533.143047 # Seafloor depth:-573.143047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 568.971652 meters looking forward 0.000000 meters along route # Maximum depth: 568.971652 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.971652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875523; longitude = -118.701230; captureRadius = 10; duration = 59; initialDepth = 524.670410; finalDepth = 528.971652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:528.971652 # Seafloor depth:-568.971652 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 564.670410 meters looking forward 0.000000 meters along route # Maximum depth: 564.670410 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 524.670410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875974; longitude = -118.701297; captureRadius = 10; duration = 59; initialDepth = 522.593400; finalDepth = 524.670410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:524.67041 # Seafloor depth:-564.670410 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 562.593400 meters looking forward 0.000000 meters along route # Maximum depth: 562.593400 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.593400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876425; longitude = -118.701365; captureRadius = 10; duration = 59; initialDepth = 521.386475; finalDepth = 522.593400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.5934 # Seafloor depth:-562.593400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 561.386475 meters looking forward 0.000000 meters along route # Maximum depth: 561.386475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.386475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876876; longitude = -118.701433; captureRadius = 10; duration = 59; initialDepth = 518.687060; finalDepth = 521.386475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:521.386475 # Seafloor depth:-561.386475 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 558.687060 meters looking forward 0.000000 meters along route # Maximum depth: 558.687060 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.687060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877326; longitude = -118.701500; captureRadius = 10; duration = 59; initialDepth = 518.454296; finalDepth = 518.687060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.68706 # Seafloor depth:-558.687060 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 558.454296 meters looking forward 0.000000 meters along route # Maximum depth: 558.454296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.454296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877777; longitude = -118.701568; captureRadius = 10; duration = 59; initialDepth = 518.736617; finalDepth = 518.454296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.454296 # Seafloor depth:-558.454296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 558.736617 meters looking forward 0.000000 meters along route # Maximum depth: 558.736617 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.736617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878228; longitude = -118.701636; captureRadius = 10; duration = 59; initialDepth = 518.076839; finalDepth = 518.736617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.736617 # Seafloor depth:-558.736617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 558.076839 meters looking forward 0.000000 meters along route # Maximum depth: 558.076839 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.076839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878679; longitude = -118.701703; captureRadius = 10; duration = 59; initialDepth = 516.089561; finalDepth = 518.076839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.076839 # Seafloor depth:-558.076839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 556.089561 meters looking forward 0.000000 meters along route # Maximum depth: 556.089561 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.089561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879130; longitude = -118.701771; captureRadius = 10; duration = 59; initialDepth = 511.637191; finalDepth = 516.089561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:516.089561 # Seafloor depth:-556.089561 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 551.637191 meters looking forward 0.000000 meters along route # Maximum depth: 551.637191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.637191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879581; longitude = -118.701839; captureRadius = 10; duration = 59; initialDepth = 507.600814; finalDepth = 511.637191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:511.637191 # Seafloor depth:-551.637191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 547.600814 meters looking forward 0.000000 meters along route # Maximum depth: 547.600814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.600814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880032; longitude = -118.701907; captureRadius = 10; duration = 59; initialDepth = 503.313544; finalDepth = 507.600814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:507.600814 # Seafloor depth:-547.600814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 543.313544 meters looking forward 0.000000 meters along route # Maximum depth: 543.313544 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.313544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880483; longitude = -118.701974; captureRadius = 10; duration = 59; initialDepth = 500.617035; finalDepth = 503.313544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.313544 # Seafloor depth:-543.313544 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 540.617035 meters looking forward 0.000000 meters along route # Maximum depth: 540.617035 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.617035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880934; longitude = -118.702042; captureRadius = 10; duration = 59; initialDepth = 501.757267; finalDepth = 500.617035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.617035 # Seafloor depth:-540.617035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 541.757267 meters looking forward 0.000000 meters along route # Maximum depth: 541.757267 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.757267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881385; longitude = -118.702110; captureRadius = 10; duration = 59; initialDepth = 502.683922; finalDepth = 501.757267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:501.757267 # Seafloor depth:-541.757267 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 542.683922 meters looking forward 0.000000 meters along route # Maximum depth: 542.683922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.683922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881835; longitude = -118.702177; captureRadius = 10; duration = 59; initialDepth = 503.723793; finalDepth = 502.683922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:502.683922 # Seafloor depth:-542.683922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 543.723793 meters looking forward 0.000000 meters along route # Maximum depth: 543.723793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.723793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882286; longitude = -118.702245; captureRadius = 10; duration = 59; initialDepth = 504.284461; finalDepth = 503.723793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.723793 # Seafloor depth:-543.723793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 544.284461 meters looking forward 0.000000 meters along route # Maximum depth: 544.284461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.284461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882737; longitude = -118.702313; captureRadius = 10; duration = 59; initialDepth = 503.428664; finalDepth = 504.284461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.284461 # Seafloor depth:-544.284461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 543.428664 meters looking forward 0.000000 meters along route # Maximum depth: 543.428664 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.428664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883188; longitude = -118.702380; captureRadius = 10; duration = 59; initialDepth = 504.343413; finalDepth = 503.428664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.428664 # Seafloor depth:-543.428664 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 544.343413 meters looking forward 0.000000 meters along route # Maximum depth: 544.343413 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.343413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883639; longitude = -118.702448; captureRadius = 10; duration = 59; initialDepth = 503.587888; finalDepth = 504.343413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.343413 # Seafloor depth:-544.343413 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 543.587888 meters looking forward 0.000000 meters along route # Maximum depth: 543.587888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.587888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884090; longitude = -118.702516; captureRadius = 10; duration = 59; initialDepth = 499.530058; finalDepth = 503.587888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.587888 # Seafloor depth:-543.587888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 539.530058 meters looking forward 0.000000 meters along route # Maximum depth: 539.530058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.530058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884541; longitude = -118.702584; captureRadius = 10; duration = 59; initialDepth = 494.516062; finalDepth = 499.530058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.530058 # Seafloor depth:-539.530058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 534.516062 meters looking forward 0.000000 meters along route # Maximum depth: 534.516062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.516062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884992; longitude = -118.702651; captureRadius = 10; duration = 59; initialDepth = 489.077341; finalDepth = 494.516062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:494.516062 # Seafloor depth:-534.516062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 529.077341 meters looking forward 0.000000 meters along route # Maximum depth: 529.077341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.077341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885443; longitude = -118.702719; captureRadius = 10; duration = 59; initialDepth = 485.776736; finalDepth = 489.077341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.077341 # Seafloor depth:-529.077341 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 59.325926 meters # Minimum depth: 525.776736 meters looking forward 0.000000 meters along route # Maximum depth: 525.776736 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.776736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885898; longitude = -118.702787; captureRadius = 10; duration = 59; initialDepth = 482.629578; finalDepth = 485.776736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:485.776736 # Seafloor depth:-525.776736 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 147 # Segment length 59.325926 meters # Minimum depth: 522.629578 meters looking forward 0.000000 meters along route # Maximum depth: 522.629578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.629578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.886375; longitude = -118.702859; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 481.263712; finalDepth = 482.629578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.629578 # Seafloor depth:-522.629578 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 147 # Segment length 59.325926 meters # Minimum depth: 521.263712 meters looking forward 0.000000 meters along route # Maximum depth: 521.263712 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.263712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.886473; longitude = -118.702355; captureRadius = 10; duration = 59; initialDepth = 494.659936; finalDepth = 481.263712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:481.263712 # Seafloor depth:-521.263712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 147 # Segment length 59.325926 meters # Minimum depth: 534.659936 meters looking forward 0.000000 meters along route # Maximum depth: 534.659936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.659936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.886578; longitude = -118.701815; captureRadius = 10; duration = 59; initialDepth = 520.648885; finalDepth = 494.659936; 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:494.659936 # Seafloor depth:-534.659936 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 146 # Segment length 59.325926 meters # Minimum depth: 562.132263 meters looking forward 0.000000 meters along route # Maximum depth: 562.132263 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.648885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.886685; longitude = -118.701268; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 519.933231; finalDepth = 520.648885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.4833780000013 # Actual altitude: 50 # Commanded vehicle depth:520.648884999999 # Seafloor depth:-562.132263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 559.933231 meters looking forward 0.000000 meters along route # Maximum depth: 559.933231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 519.933231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.886615; longitude = -118.701257; captureRadius = 10; duration = 59; initialDepth = 508.657156; finalDepth = 519.933231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.4833780000013 # Actual altitude: 50 # Commanded vehicle depth:519.933231 # Seafloor depth:-559.933231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 548.657156 meters looking forward 0.000000 meters along route # Maximum depth: 548.657156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.657156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.886164; longitude = -118.701189; captureRadius = 10; duration = 59; initialDepth = 508.545750; finalDepth = 508.657156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:508.657156 # Seafloor depth:-548.657156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 548.545750 meters looking forward 0.000000 meters along route # Maximum depth: 548.545750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.545750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885713; longitude = -118.701121; captureRadius = 10; duration = 59; initialDepth = 504.324760; finalDepth = 508.545750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:508.54575 # Seafloor depth:-548.545750 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 544.324760 meters looking forward 0.000000 meters along route # Maximum depth: 544.324760 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.324760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885262; longitude = -118.701053; captureRadius = 10; duration = 59; initialDepth = 494.425943; finalDepth = 504.324760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.32476 # Seafloor depth:-544.324760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 534.425943 meters looking forward 0.000000 meters along route # Maximum depth: 534.425943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.425943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884811; longitude = -118.700985; captureRadius = 10; duration = 59; initialDepth = 498.220293; finalDepth = 494.425943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:494.425943 # Seafloor depth:-534.425943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 538.220293 meters looking forward 0.000000 meters along route # Maximum depth: 538.220293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.220293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884361; longitude = -118.700916; captureRadius = 10; duration = 59; initialDepth = 502.484280; finalDepth = 498.220293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.220293 # Seafloor depth:-538.220293 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 542.484280 meters looking forward 0.000000 meters along route # Maximum depth: 542.484280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.484280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883910; longitude = -118.700848; captureRadius = 10; duration = 59; initialDepth = 502.911818; finalDepth = 502.484280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:502.48428 # Seafloor depth:-542.484280 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 542.911818 meters looking forward 0.000000 meters along route # Maximum depth: 542.911818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.911818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883459; longitude = -118.700780; captureRadius = 10; duration = 59; initialDepth = 501.212348; finalDepth = 502.911818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:502.911818 # Seafloor depth:-542.911818 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 541.212348 meters looking forward 0.000000 meters along route # Maximum depth: 541.212348 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.212348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883008; longitude = -118.700712; captureRadius = 10; duration = 59; initialDepth = 502.494579; finalDepth = 501.212348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:501.212348 # Seafloor depth:-541.212348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 542.494579 meters looking forward 0.000000 meters along route # Maximum depth: 542.494579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.494579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882557; longitude = -118.700644; captureRadius = 10; duration = 59; initialDepth = 509.879563; finalDepth = 502.494579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:502.494579 # Seafloor depth:-542.494579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 549.879563 meters looking forward 0.000000 meters along route # Maximum depth: 549.879563 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.879563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882106; longitude = -118.700575; captureRadius = 10; duration = 59; initialDepth = 510.584776; finalDepth = 509.879563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:509.879563 # Seafloor depth:-549.879563 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 550.584776 meters looking forward 0.000000 meters along route # Maximum depth: 550.584776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.584776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881655; longitude = -118.700507; captureRadius = 10; duration = 59; initialDepth = 505.913591; finalDepth = 510.584776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:510.584776 # Seafloor depth:-550.584776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 545.913591 meters looking forward 0.000000 meters along route # Maximum depth: 545.913591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.913591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881204; longitude = -118.700439; captureRadius = 10; duration = 59; initialDepth = 504.456770; finalDepth = 505.913591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.913591 # Seafloor depth:-545.913591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 544.456770 meters looking forward 0.000000 meters along route # Maximum depth: 544.456770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.456770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880753; longitude = -118.700371; captureRadius = 10; duration = 59; initialDepth = 506.454934; finalDepth = 504.456770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.45677 # Seafloor depth:-544.456770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 546.454934 meters looking forward 0.000000 meters along route # Maximum depth: 546.454934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.454934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880302; longitude = -118.700303; captureRadius = 10; duration = 59; initialDepth = 509.820512; finalDepth = 506.454934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.454934 # Seafloor depth:-546.454934 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 549.820512 meters looking forward 0.000000 meters along route # Maximum depth: 549.820512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.820512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879851; longitude = -118.700234; captureRadius = 10; duration = 59; initialDepth = 514.628750; finalDepth = 509.820512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:509.820512 # Seafloor depth:-549.820512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 554.628750 meters looking forward 0.000000 meters along route # Maximum depth: 554.628750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.628750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879401; longitude = -118.700166; captureRadius = 10; duration = 59; initialDepth = 517.259466; finalDepth = 514.628750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:514.62875 # Seafloor depth:-554.628750 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 557.259466 meters looking forward 0.000000 meters along route # Maximum depth: 557.259466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.259466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878950; longitude = -118.700098; captureRadius = 10; duration = 59; initialDepth = 516.951613; finalDepth = 517.259466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:517.259466 # Seafloor depth:-557.259466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 556.951613 meters looking forward 0.000000 meters along route # Maximum depth: 556.951613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.951613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878499; longitude = -118.700030; captureRadius = 10; duration = 59; initialDepth = 515.386535; finalDepth = 516.951613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:516.951613 # Seafloor depth:-556.951613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 555.386535 meters looking forward 0.000000 meters along route # Maximum depth: 555.386535 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.386535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878048; longitude = -118.699962; captureRadius = 10; duration = 59; initialDepth = 515.871581; finalDepth = 515.386535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:515.386535 # Seafloor depth:-555.386535 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 555.871581 meters looking forward 0.000000 meters along route # Maximum depth: 555.871581 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.871581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877597; longitude = -118.699893; captureRadius = 10; duration = 59; initialDepth = 519.890602; finalDepth = 515.871581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:515.871581 # Seafloor depth:-555.871581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 559.890602 meters looking forward 0.000000 meters along route # Maximum depth: 559.890602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 519.890602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877146; longitude = -118.699825; captureRadius = 10; duration = 59; initialDepth = 521.039565; finalDepth = 519.890602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:519.890602 # Seafloor depth:-559.890602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 561.039565 meters looking forward 0.000000 meters along route # Maximum depth: 561.039565 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.039565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876695; longitude = -118.699757; captureRadius = 10; duration = 59; initialDepth = 522.364296; finalDepth = 521.039565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:521.039565 # Seafloor depth:-561.039565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 562.364296 meters looking forward 0.000000 meters along route # Maximum depth: 562.364296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.364296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876244; longitude = -118.699689; captureRadius = 10; duration = 59; initialDepth = 523.747649; finalDepth = 522.364296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.364296 # Seafloor depth:-562.364296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 563.747649 meters looking forward 0.000000 meters along route # Maximum depth: 563.747649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.747649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875793; longitude = -118.699621; captureRadius = 10; duration = 59; initialDepth = 526.809496; finalDepth = 523.747649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:523.747649 # Seafloor depth:-563.747649 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 566.809496 meters looking forward 0.000000 meters along route # Maximum depth: 566.809496 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 526.809496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875342; longitude = -118.699553; captureRadius = 10; duration = 59; initialDepth = 529.992809; finalDepth = 526.809496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:526.809496 # Seafloor depth:-566.809496 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 569.992809 meters looking forward 0.000000 meters along route # Maximum depth: 569.992809 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.992809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874892; longitude = -118.699484; captureRadius = 10; duration = 59; initialDepth = 532.031261; finalDepth = 529.992809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:529.992809 # Seafloor depth:-569.992809 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 572.031261 meters looking forward 0.000000 meters along route # Maximum depth: 572.031261 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.031261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874441; longitude = -118.699416; captureRadius = 10; duration = 59; initialDepth = 535.079683; finalDepth = 532.031261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:532.031261 # Seafloor depth:-572.031261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 575.079683 meters looking forward 0.000000 meters along route # Maximum depth: 575.079683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.079683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873990; longitude = -118.699348; captureRadius = 10; duration = 59; initialDepth = 536.505539; finalDepth = 535.079683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:535.079683 # Seafloor depth:-575.079683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 576.505539 meters looking forward 0.000000 meters along route # Maximum depth: 576.505539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.505539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873539; longitude = -118.699280; captureRadius = 10; duration = 59; initialDepth = 539.160733; finalDepth = 536.505539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.505539 # Seafloor depth:-576.505539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 579.160733 meters looking forward 0.000000 meters along route # Maximum depth: 579.160733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.160733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873088; longitude = -118.699212; captureRadius = 10; duration = 59; initialDepth = 543.797793; finalDepth = 539.160733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.160733 # Seafloor depth:-579.160733 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 583.797793 meters looking forward 0.000000 meters along route # Maximum depth: 583.797793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.797793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872637; longitude = -118.699143; captureRadius = 10; duration = 59; initialDepth = 542.890218; finalDepth = 543.797793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.797793 # Seafloor depth:-583.797793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 582.890218 meters looking forward 0.000000 meters along route # Maximum depth: 582.890218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.890218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872186; longitude = -118.699075; captureRadius = 10; duration = 59; initialDepth = 544.042604; finalDepth = 542.890218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.890218 # Seafloor depth:-582.890218 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 584.042604 meters looking forward 0.000000 meters along route # Maximum depth: 584.042604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.042604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871732; longitude = -118.699007; captureRadius = 10; duration = 59; initialDepth = 545.112281; finalDepth = 544.042604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:544.042604 # Seafloor depth:-584.042604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 585.112281 meters looking forward 0.000000 meters along route # Maximum depth: 585.112281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.112281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871284; longitude = -118.698939; captureRadius = 10; duration = 59; initialDepth = 546.796167; finalDepth = 545.112281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.112281 # Seafloor depth:-585.112281 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 586.796167 meters looking forward 0.000000 meters along route # Maximum depth: 586.796167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.796167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870833; longitude = -118.698871; captureRadius = 10; duration = 59; initialDepth = 548.944909; finalDepth = 546.796167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:546.796167 # Seafloor depth:-586.796167 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 588.944909 meters looking forward 0.000000 meters along route # Maximum depth: 588.944909 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.944909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870382; longitude = -118.698802; captureRadius = 10; duration = 59; initialDepth = 551.848823; finalDepth = 548.944909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:548.944909 # Seafloor depth:-588.944909 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 591.848823 meters looking forward 0.000000 meters along route # Maximum depth: 591.848823 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.848823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869932; longitude = -118.698734; captureRadius = 10; duration = 59; initialDepth = 554.218593; finalDepth = 551.848823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.848823 # Seafloor depth:-591.848823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 594.218593 meters looking forward 0.000000 meters along route # Maximum depth: 594.218593 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.218593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869481; longitude = -118.698666; captureRadius = 10; duration = 59; initialDepth = 556.195382; finalDepth = 554.218593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.218593 # Seafloor depth:-594.218593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 596.195382 meters looking forward 0.000000 meters along route # Maximum depth: 596.195382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.195382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869030; longitude = -118.698598; captureRadius = 10; duration = 59; initialDepth = 557.590933; finalDepth = 556.195382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.195382 # Seafloor depth:-596.195382 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 597.590933 meters looking forward 0.000000 meters along route # Maximum depth: 597.590933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.590933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868579; longitude = -118.698530; captureRadius = 10; duration = 59; initialDepth = 558.494236; finalDepth = 557.590933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.590933 # Seafloor depth:-597.590933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 598.494236 meters looking forward 0.000000 meters along route # Maximum depth: 598.494236 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.494236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868128; longitude = -118.698461; captureRadius = 10; duration = 59; initialDepth = 560.196492; finalDepth = 558.494236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.494236 # Seafloor depth:-598.494236 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 600.196492 meters looking forward 0.000000 meters along route # Maximum depth: 600.196492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.196492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867677; longitude = -118.698393; captureRadius = 10; duration = 59; initialDepth = 561.842758; finalDepth = 560.196492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.196492 # Seafloor depth:-600.196492 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 601.842758 meters looking forward 0.000000 meters along route # Maximum depth: 601.842758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.842758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867226; longitude = -118.698325; captureRadius = 10; duration = 59; initialDepth = 563.468440; finalDepth = 561.842758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.842758 # Seafloor depth:-601.842758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 603.468440 meters looking forward 0.000000 meters along route # Maximum depth: 603.468440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.468440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866775; longitude = -118.698257; captureRadius = 10; duration = 59; initialDepth = 565.508933; finalDepth = 563.468440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.46844 # Seafloor depth:-603.468440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 605.508933 meters looking forward 0.000000 meters along route # Maximum depth: 605.508933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.508933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866324; longitude = -118.698189; captureRadius = 10; duration = 59; initialDepth = 566.247206; finalDepth = 565.508933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.508933 # Seafloor depth:-605.508933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 606.247206 meters looking forward 0.000000 meters along route # Maximum depth: 606.247206 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.247206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865873; longitude = -118.698120; captureRadius = 10; duration = 59; initialDepth = 567.879806; finalDepth = 566.247206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:566.247206 # Seafloor depth:-606.247206 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 607.879806 meters looking forward 0.000000 meters along route # Maximum depth: 607.879806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 567.879806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865423; longitude = -118.698052; captureRadius = 10; duration = 59; initialDepth = 568.859462; finalDepth = 567.879806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:567.879806 # Seafloor depth:-607.879806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 608.859462 meters looking forward 0.000000 meters along route # Maximum depth: 608.859462 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.859462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864972; longitude = -118.697984; captureRadius = 10; duration = 59; initialDepth = 570.442746; finalDepth = 568.859462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:568.859462 # Seafloor depth:-608.859462 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 610.442746 meters looking forward 0.000000 meters along route # Maximum depth: 610.442746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.442746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864521; longitude = -118.697916; captureRadius = 10; duration = 59; initialDepth = 571.817911; finalDepth = 570.442746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:570.442746 # Seafloor depth:-610.442746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 611.817911 meters looking forward 0.000000 meters along route # Maximum depth: 611.817911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.817911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864070; longitude = -118.697848; captureRadius = 10; duration = 59; initialDepth = 573.534035; finalDepth = 571.817911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.817911 # Seafloor depth:-611.817911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 613.534035 meters looking forward 0.000000 meters along route # Maximum depth: 613.534035 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.534035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863619; longitude = -118.697779; captureRadius = 10; duration = 59; initialDepth = 575.002849; finalDepth = 573.534035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.534035 # Seafloor depth:-613.534035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 615.002849 meters looking forward 0.000000 meters along route # Maximum depth: 615.002849 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.002849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863168; longitude = -118.697711; captureRadius = 10; duration = 59; initialDepth = 576.198347; finalDepth = 575.002849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.002849 # Seafloor depth:-615.002849 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 616.198347 meters looking forward 0.000000 meters along route # Maximum depth: 616.198347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.198347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862717; longitude = -118.697643; captureRadius = 10; duration = 59; initialDepth = 578.080272; finalDepth = 576.198347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.198347 # Seafloor depth:-616.198347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 618.080272 meters looking forward 0.000000 meters along route # Maximum depth: 618.080272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.080272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862266; longitude = -118.697575; captureRadius = 10; duration = 59; initialDepth = 579.414696; finalDepth = 578.080272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.080272 # Seafloor depth:-618.080272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 619.414696 meters looking forward 0.000000 meters along route # Maximum depth: 619.414696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.414696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861815; longitude = -118.697507; captureRadius = 10; duration = 59; initialDepth = 580.295424; finalDepth = 579.414696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.414696 # Seafloor depth:-619.414696 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 620.295424 meters looking forward 0.000000 meters along route # Maximum depth: 620.295424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.295424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861364; longitude = -118.697438; captureRadius = 10; duration = 59; initialDepth = 585.714626; finalDepth = 580.295424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.295424 # Seafloor depth:-620.295424 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 625.714626 meters looking forward 0.000000 meters along route # Maximum depth: 625.714626 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.714626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860913; longitude = -118.697370; captureRadius = 10; duration = 59; initialDepth = 592.228229; finalDepth = 585.714626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.714626 # Seafloor depth:-625.714626 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 632.228229 meters looking forward 0.000000 meters along route # Maximum depth: 632.228229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 592.228229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860463; longitude = -118.697302; captureRadius = 10; duration = 59; initialDepth = 598.914134; finalDepth = 592.228229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:592.228229 # Seafloor depth:-632.228229 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 638.914134 meters looking forward 0.000000 meters along route # Maximum depth: 638.914134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 598.914134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860012; longitude = -118.697234; captureRadius = 10; duration = 59; initialDepth = 603.089503; finalDepth = 598.914134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:598.914134 # Seafloor depth:-638.914134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 643.089503 meters looking forward 0.000000 meters along route # Maximum depth: 643.089503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.089503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859561; longitude = -118.697166; captureRadius = 10; duration = 59; initialDepth = 600.511228; finalDepth = 603.089503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:603.089503 # Seafloor depth:-643.089503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 640.511228 meters looking forward 0.000000 meters along route # Maximum depth: 640.511228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.511228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859110; longitude = -118.697097; captureRadius = 10; duration = 59; initialDepth = 596.838372; finalDepth = 600.511228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.511228 # Seafloor depth:-640.511228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 636.838372 meters looking forward 0.000000 meters along route # Maximum depth: 636.838372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.838372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858659; longitude = -118.697029; captureRadius = 10; duration = 59; initialDepth = 594.204852; finalDepth = 596.838372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.838372 # Seafloor depth:-636.838372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 634.204852 meters looking forward 0.000000 meters along route # Maximum depth: 634.204852 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.204852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858208; longitude = -118.696961; captureRadius = 10; duration = 59; initialDepth = 595.394607; finalDepth = 594.204852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.204852 # Seafloor depth:-634.204852 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 635.394607 meters looking forward 0.000000 meters along route # Maximum depth: 635.394607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.394607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857757; longitude = -118.696893; captureRadius = 10; duration = 59; initialDepth = 601.275077; finalDepth = 595.394607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:595.394607 # Seafloor depth:-635.394607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 641.275077 meters looking forward 0.000000 meters along route # Maximum depth: 641.275077 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 601.275077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857306; longitude = -118.696825; captureRadius = 10; duration = 59; initialDepth = 610.298395; finalDepth = 601.275077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:601.275077 # Seafloor depth:-641.275077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 650.298395 meters looking forward 0.000000 meters along route # Maximum depth: 650.298395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.298395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856855; longitude = -118.696756; captureRadius = 10; duration = 59; initialDepth = 613.771503; finalDepth = 610.298395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:610.298395 # Seafloor depth:-650.298395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 653.771503 meters looking forward 0.000000 meters along route # Maximum depth: 653.771503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 613.771503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856404; longitude = -118.696688; captureRadius = 10; duration = 59; initialDepth = 623.643095; finalDepth = 613.771503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:613.771503 # Seafloor depth:-653.771503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 663.643095 meters looking forward 0.000000 meters along route # Maximum depth: 663.643095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.643095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855954; longitude = -118.696620; captureRadius = 10; duration = 59; initialDepth = 629.521215; finalDepth = 623.643095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:623.643095 # Seafloor depth:-663.643095 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 669.521215 meters looking forward 0.000000 meters along route # Maximum depth: 669.521215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 629.521215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855503; longitude = -118.696552; captureRadius = 10; duration = 59; initialDepth = 627.332364; finalDepth = 629.521215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:629.521215 # Seafloor depth:-669.521215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 667.332364 meters looking forward 0.000000 meters along route # Maximum depth: 667.332364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.332364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855052; longitude = -118.696484; captureRadius = 10; duration = 59; initialDepth = 629.209728; finalDepth = 627.332364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:627.332364 # Seafloor depth:-667.332364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 669.209728 meters looking forward 0.000000 meters along route # Maximum depth: 669.209728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 629.209728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854601; longitude = -118.696415; captureRadius = 10; duration = 59; initialDepth = 632.104373; finalDepth = 629.209728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:629.209728 # Seafloor depth:-669.209728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 59.325926 meters # Minimum depth: 672.104373 meters looking forward 0.000000 meters along route # Maximum depth: 672.104373 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 632.104373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854150; longitude = -118.696347; captureRadius = 10; duration = 59; initialDepth = 638.768738; finalDepth = 632.104373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:632.104373 # Seafloor depth:-672.104373 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 145 # Segment length 59.325926 meters # Minimum depth: 678.768738 meters looking forward 0.000000 meters along route # Maximum depth: 678.768738 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 638.768738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853639; longitude = -118.696270; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 640.617847; finalDepth = 638.768738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:638.768738 # Seafloor depth:-678.768738 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 59.325926 meters # Minimum depth: 680.617847 meters looking forward 0.000000 meters along route # Maximum depth: 680.617847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 640.617847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853609; longitude = -118.696320; captureRadius = 10; duration = 59; initialDepth = 648.668198; finalDepth = 640.617847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:640.617847 # Seafloor depth:-680.617847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 59.325926 meters # Minimum depth: 688.668198 meters looking forward 0.000000 meters along route # Maximum depth: 688.668198 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 648.668198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853338; longitude = -118.696772; captureRadius = 10; duration = 59; initialDepth = 650.130386; finalDepth = 648.668198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:648.668198 # Seafloor depth:-688.668198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 59.325926 meters # Minimum depth: 690.130386 meters looking forward 0.000000 meters along route # Maximum depth: 690.130386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 650.130386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853068; longitude = -118.697223; captureRadius = 10; duration = 59; initialDepth = 650.504546; finalDepth = 650.130386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:650.130386 # Seafloor depth:-690.130386 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 59.325926 meters # Minimum depth: 690.504546 meters looking forward 0.000000 meters along route # Maximum depth: 690.504546 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 650.504546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852797; longitude = -118.697675; captureRadius = 10; duration = 59; initialDepth = 653.172318; finalDepth = 650.504546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:650.504546 # Seafloor depth:-690.504546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 59.325926 meters # Minimum depth: 693.172318 meters looking forward 0.000000 meters along route # Maximum depth: 693.172318 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.172318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852527; longitude = -118.698126; captureRadius = 10; duration = 59; initialDepth = 655.753054; finalDepth = 653.172318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:653.172318 # Seafloor depth:-693.172318 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 59.325926 meters # Minimum depth: 695.753054 meters looking forward 0.000000 meters along route # Maximum depth: 695.753054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 655.753054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852256; longitude = -118.698577; captureRadius = 10; duration = 59; initialDepth = 656.939702; finalDepth = 655.753054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:655.753054 # Seafloor depth:-695.753054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 59.325926 meters # Minimum depth: 696.939702 meters looking forward 0.000000 meters along route # Maximum depth: 696.939702 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 656.939702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851986; longitude = -118.699029; captureRadius = 10; duration = 59; initialDepth = 657.545726; finalDepth = 656.939702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:656.939702 # Seafloor depth:-696.939702 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 59.325926 meters # Minimum depth: 697.545726 meters looking forward 0.000000 meters along route # Maximum depth: 697.545726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 657.545726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851715; longitude = -118.699480; captureRadius = 10; duration = 59; initialDepth = 655.937142; finalDepth = 657.545726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:657.545726 # Seafloor depth:-697.545726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 59.325926 meters # Minimum depth: 695.937142 meters looking forward 0.000000 meters along route # Maximum depth: 695.937142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 655.937142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851416; longitude = -118.699979; captureRadius = 10; duration = 59; initialDepth = 653.795380; finalDepth = 655.937142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:655.937142 # Seafloor depth:-695.937142 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 144 # Segment length 59.325926 meters # Minimum depth: 693.795380 meters looking forward 0.000000 meters along route # Maximum depth: 693.795380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.795380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851114; longitude = -118.700483; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 653.958763; finalDepth = 653.795380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:653.79538 # Seafloor depth:-693.795380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 144 # Segment length 59.325926 meters # Minimum depth: 693.958763 meters looking forward 0.000000 meters along route # Maximum depth: 693.958763 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.958763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851045; longitude = -118.700519; captureRadius = 10; duration = 59; initialDepth = 656.050461; finalDepth = 653.958763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:653.958763 # Seafloor depth:-693.958763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 144 # Segment length 59.325926 meters # Minimum depth: 696.050461 meters looking forward 0.000000 meters along route # Maximum depth: 696.050461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 656.050461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850631; longitude = -118.700735; captureRadius = 10; duration = 59; initialDepth = 655.824468; finalDepth = 656.050461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:656.050461 # Seafloor depth:-696.050461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 144 # Segment length 59.325926 meters # Minimum depth: 695.824468 meters looking forward 0.000000 meters along route # Maximum depth: 695.824468 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 655.824468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850218; longitude = -118.700951; captureRadius = 10; duration = 59; initialDepth = 655.399652; finalDepth = 655.824468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:655.824468 # Seafloor depth:-695.824468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 144 # Segment length 59.325926 meters # Minimum depth: 695.399652 meters looking forward 0.000000 meters along route # Maximum depth: 695.399652 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 655.399652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849804; longitude = -118.701167; captureRadius = 10; duration = 59; initialDepth = 652.717171; finalDepth = 655.399652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:655.399652 # Seafloor depth:-695.399652 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 144 # Segment length 59.325926 meters # Minimum depth: 692.717171 meters looking forward 0.000000 meters along route # Maximum depth: 692.717171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 652.717171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849370; longitude = -118.701393; captureRadius = 10; duration = 59; initialDepth = 652.787697; finalDepth = 652.717171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:652.717171 # Seafloor depth:-692.717171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 144 # Segment length 59.325926 meters # Minimum depth: 692.787697 meters looking forward 0.000000 meters along route # Maximum depth: 692.787697 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 652.787697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848919; longitude = -118.701629; captureRadius = 10; duration = 59; initialDepth = 660.238100; finalDepth = 652.787697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:652.787697 # Seafloor depth:-692.787697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 144 # Segment length 59.325926 meters # Minimum depth: 700.238100 meters looking forward 0.000000 meters along route # Maximum depth: 700.238100 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 660.238100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848468; longitude = -118.701864; captureRadius = 10; duration = 59; initialDepth = 665.062866; finalDepth = 660.238100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:660.2381 # Seafloor depth:-700.238100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 144 # Segment length 59.325926 meters # Minimum depth: 705.062866 meters looking forward 0.000000 meters along route # Maximum depth: 705.062866 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.062866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848018; longitude = -118.702100; captureRadius = 10; duration = 59; initialDepth = 670.991374; finalDepth = 665.062866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:665.062866 # Seafloor depth:-705.062866 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 143 # Segment length 59.325926 meters # Minimum depth: 710.991374 meters looking forward 0.000000 meters along route # Maximum depth: 710.991374 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 670.991374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847597; longitude = -118.702319; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 672.051744; finalDepth = 670.991374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:670.991374 # Seafloor depth:-710.991374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 143 # Segment length 59.325926 meters # Minimum depth: 712.051744 meters looking forward 0.000000 meters along route # Maximum depth: 712.051744 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.051744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847537; longitude = -118.702355; captureRadius = 10; duration = 59; initialDepth = 679.669712; finalDepth = 672.051744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:672.051744 # Seafloor depth:-712.051744 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 143 # Segment length 59.325926 meters # Minimum depth: 719.669712 meters looking forward 0.000000 meters along route # Maximum depth: 719.669712 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.669712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847116; longitude = -118.702611; captureRadius = 10; duration = 59; initialDepth = 688.081244; finalDepth = 679.669712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:679.669712 # Seafloor depth:-719.669712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 143 # Segment length 59.325926 meters # Minimum depth: 728.081244 meters looking forward 0.000000 meters along route # Maximum depth: 728.081244 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.081244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.846646; longitude = -118.702895; captureRadius = 10; duration = 59; initialDepth = 694.302861; finalDepth = 688.081244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.081244 # Seafloor depth:-728.081244 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 143 # Segment length 59.325926 meters # Minimum depth: 734.302861 meters looking forward 0.000000 meters along route # Maximum depth: 734.302861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.302861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.846214; longitude = -118.703158; captureRadius = 10; duration = 59; initialDepth = 698.794003; finalDepth = 694.302861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.302861 # Seafloor depth:-734.302861 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 143 # Segment length 59.325926 meters # Minimum depth: 738.794003 meters looking forward 0.000000 meters along route # Maximum depth: 738.794003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.794003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.845755; longitude = -118.703436; captureRadius = 10; duration = 59; initialDepth = 699.570335; finalDepth = 698.794003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.794003 # Seafloor depth:-738.794003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 143 # Segment length 59.325926 meters # Minimum depth: 739.570335 meters looking forward 0.000000 meters along route # Maximum depth: 739.570335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.570335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.845312; longitude = -118.703704; captureRadius = 10; duration = 59; initialDepth = 698.170226; finalDepth = 699.570335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.570335 # Seafloor depth:-739.570335 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 143 # Segment length 59.325926 meters # Minimum depth: 738.170226 meters looking forward 0.000000 meters along route # Maximum depth: 738.170226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.170226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.844861; longitude = -118.703978; captureRadius = 10; duration = 59; initialDepth = 697.737178; finalDepth = 698.170226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.170226 # Seafloor depth:-738.170226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 143 # Segment length 59.325926 meters # Minimum depth: 737.737178 meters looking forward 0.000000 meters along route # Maximum depth: 737.737178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.737178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.844410; longitude = -118.704251; captureRadius = 10; duration = 59; initialDepth = 699.103817; finalDepth = 697.737178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:697.737178 # Seafloor depth:-737.737178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 143 # Segment length 59.325926 meters # Minimum depth: 739.103817 meters looking forward 0.000000 meters along route # Maximum depth: 739.103817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.103817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.843959; longitude = -118.704524; captureRadius = 10; duration = 59; initialDepth = 701.813864; finalDepth = 699.103817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.103817 # Seafloor depth:-739.103817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 143 # Segment length 59.325926 meters # Minimum depth: 741.813864 meters looking forward 0.000000 meters along route # Maximum depth: 741.813864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.813864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.843509; longitude = -118.704798; captureRadius = 10; duration = 59; initialDepth = 706.368337; finalDepth = 701.813864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:701.813864 # Seafloor depth:-741.813864 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 143 # Segment length 59.325926 meters # Minimum depth: 746.368337 meters looking forward 0.000000 meters along route # Maximum depth: 746.368337 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.368337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.843083; longitude = -118.705056; captureRadius = 10; duration = 59; initialDepth = 711.304932; finalDepth = 706.368337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.368337 # Seafloor depth:-746.368337 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 142 # Segment length 59.325926 meters # Minimum depth: 751.304932 meters looking forward 0.000000 meters along route # Maximum depth: 751.304932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.304932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.842667; longitude = -118.705308; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 712.515926; finalDepth = 711.304932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:711.304932 # Seafloor depth:-751.304932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 142 # Segment length 59.325926 meters # Minimum depth: 752.515926 meters looking forward 0.000000 meters along route # Maximum depth: 752.515926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.515926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.842574; longitude = -118.705380; captureRadius = 10; duration = 59; initialDepth = 720.351005; finalDepth = 712.515926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:712.515926 # Seafloor depth:-752.515926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 142 # Segment length 59.325926 meters # Minimum depth: 760.351005 meters looking forward 0.000000 meters along route # Maximum depth: 760.351005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.351005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.842156; longitude = -118.705705; captureRadius = 10; duration = 59; initialDepth = 727.666897; finalDepth = 720.351005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:720.351005 # Seafloor depth:-760.351005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 142 # Segment length 59.325926 meters # Minimum depth: 767.666897 meters looking forward 0.000000 meters along route # Maximum depth: 767.666897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 727.666897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.841705; longitude = -118.706056; captureRadius = 10; duration = 59; initialDepth = 732.026503; finalDepth = 727.666897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:727.666897 # Seafloor depth:-767.666897 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 142 # Segment length 59.325926 meters # Minimum depth: 772.026503 meters looking forward 0.000000 meters along route # Maximum depth: 772.026503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.026503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.841324; longitude = -118.706352; captureRadius = 10; duration = 59; initialDepth = 739.198502; finalDepth = 732.026503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:732.026503 # Seafloor depth:-772.026503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 142 # Segment length 59.325926 meters # Minimum depth: 779.198502 meters looking forward 0.000000 meters along route # Maximum depth: 779.198502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.198502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.840893; longitude = -118.706687; captureRadius = 10; duration = 59; initialDepth = 744.324092; finalDepth = 739.198502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:739.198502 # Seafloor depth:-779.198502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 142 # Segment length 59.325926 meters # Minimum depth: 784.324092 meters looking forward 0.000000 meters along route # Maximum depth: 784.324092 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.324092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.840490; longitude = -118.707000; captureRadius = 10; duration = 59; initialDepth = 747.834048; finalDepth = 744.324092; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:744.324092 # Seafloor depth:-784.324092 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 142 # Segment length 59.325926 meters # Minimum depth: 787.834048 meters looking forward 0.000000 meters along route # Maximum depth: 787.834048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.834048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.840074; longitude = -118.707325; captureRadius = 10; duration = 59; initialDepth = 747.335224; finalDepth = 747.834048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:747.834048 # Seafloor depth:-787.834048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 142 # Segment length 59.325926 meters # Minimum depth: 787.335224 meters looking forward 0.000000 meters along route # Maximum depth: 787.335224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.335224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.839631; longitude = -118.707669; captureRadius = 10; duration = 59; initialDepth = 744.846061; finalDepth = 747.335224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:747.335224 # Seafloor depth:-787.335224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 142 # Segment length 59.325926 meters # Minimum depth: 784.846061 meters looking forward 0.000000 meters along route # Maximum depth: 784.846061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.846061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.839240; longitude = -118.707973; captureRadius = 10; duration = 59; initialDepth = 743.677152; finalDepth = 744.846061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:744.846061 # Seafloor depth:-784.846061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 142 # Segment length 59.325926 meters # Minimum depth: 783.677152 meters looking forward 0.000000 meters along route # Maximum depth: 783.677152 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.677152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.838819; longitude = -118.708300; captureRadius = 10; duration = 59; initialDepth = 743.361734; finalDepth = 743.677152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:743.677152 # Seafloor depth:-783.677152 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 142 # Segment length 59.325926 meters # Minimum depth: 783.361734 meters looking forward 0.000000 meters along route # Maximum depth: 783.361734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.361734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.838368; longitude = -118.708651; captureRadius = 10; duration = 59; initialDepth = 743.992528; finalDepth = 743.361734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:743.361734 # Seafloor depth:-783.361734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 142 # Segment length 59.325926 meters # Minimum depth: 783.992528 meters looking forward 0.000000 meters along route # Maximum depth: 783.992528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.992528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.837917; longitude = -118.709001; captureRadius = 10; duration = 59; initialDepth = 744.249847; finalDepth = 743.992528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:743.992528 # Seafloor depth:-783.992528 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 141 # Segment length 59.325926 meters # Minimum depth: 784.249847 meters looking forward 0.000000 meters along route # Maximum depth: 784.249847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.249847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.837527; longitude = -118.709305; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 747.914752; finalDepth = 744.249847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:744.249847 # Seafloor depth:-784.249847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 141 # Segment length 59.325926 meters # Minimum depth: 787.914752 meters looking forward 0.000000 meters along route # Maximum depth: 787.914752 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.914752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.837360; longitude = -118.709053; captureRadius = 10; duration = 59; initialDepth = 759.276359; finalDepth = 747.914752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:747.914752 # Seafloor depth:-787.914752 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 141 # Segment length 59.325926 meters # Minimum depth: 799.276359 meters looking forward 0.000000 meters along route # Maximum depth: 799.276359 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.276359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.837073; longitude = -118.708621; captureRadius = 10; duration = 59; initialDepth = 767.786310; finalDepth = 759.276359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:759.276359 # Seafloor depth:-799.276359 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 141 # Segment length 59.325926 meters # Minimum depth: 807.786310 meters looking forward 0.000000 meters along route # Maximum depth: 807.786310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 767.786310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.836786; longitude = -118.708189; captureRadius = 10; duration = 59; initialDepth = 769.849585; finalDepth = 767.786310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:767.78631 # Seafloor depth:-807.786310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 141 # Segment length 59.325926 meters # Minimum depth: 809.849585 meters looking forward 0.000000 meters along route # Maximum depth: 809.849585 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.849585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.836499; longitude = -118.707757; captureRadius = 10; duration = 59; initialDepth = 770.086777; finalDepth = 769.849585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:769.849585 # Seafloor depth:-809.849585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 141 # Segment length 59.325926 meters # Minimum depth: 810.086777 meters looking forward 0.000000 meters along route # Maximum depth: 810.086777 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 770.086777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.836213; longitude = -118.707325; captureRadius = 10; duration = 59; initialDepth = 771.257764; finalDepth = 770.086777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:770.086777 # Seafloor depth:-810.086777 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 141 # Segment length 59.325926 meters # Minimum depth: 811.257764 meters looking forward 0.000000 meters along route # Maximum depth: 811.257764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 771.257764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.835926; longitude = -118.706892; captureRadius = 10; duration = 59; initialDepth = 770.813639; finalDepth = 771.257764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:771.257764 # Seafloor depth:-811.257764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 141 # Segment length 59.325926 meters # Minimum depth: 810.813639 meters looking forward 0.000000 meters along route # Maximum depth: 810.813639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 770.813639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.835639; longitude = -118.706460; captureRadius = 10; duration = 59; initialDepth = 771.519908; finalDepth = 770.813639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:770.813639 # Seafloor depth:-810.813639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 141 # Segment length 59.325926 meters # Minimum depth: 811.519908 meters looking forward 0.000000 meters along route # Maximum depth: 811.519908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 771.519908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.835352; longitude = -118.706028; captureRadius = 10; duration = 59; initialDepth = 771.891153; finalDepth = 771.519908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:771.519908 # Seafloor depth:-811.519908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 141 # Segment length 59.325926 meters # Minimum depth: 811.891153 meters looking forward 0.000000 meters along route # Maximum depth: 811.891153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 771.891153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.835031; longitude = -118.705545; captureRadius = 10; duration = 59; initialDepth = 774.148834; finalDepth = 771.891153; 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:771.891153 # Seafloor depth:-811.891153 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 140 # Segment length 59.325926 meters # Minimum depth: 814.148834 meters looking forward 0.000000 meters along route # Maximum depth: 814.148834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 774.148834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.834731; longitude = -118.705092; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 772.350150; finalDepth = 774.148834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:774.148834 # Seafloor depth:-814.148834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 59.325926 meters # Minimum depth: 812.350150 meters looking forward 0.000000 meters along route # Maximum depth: 812.350150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 772.350150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.835031; longitude = -118.704893; captureRadius = 10; duration = 59; initialDepth = 768.827556; finalDepth = 772.350150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:772.35015 # Seafloor depth:-812.350150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 59.325926 meters # Minimum depth: 808.827556 meters looking forward 0.000000 meters along route # Maximum depth: 808.827556 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 768.827556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.835482; longitude = -118.704594; captureRadius = 10; duration = 59; initialDepth = 767.842106; finalDepth = 768.827556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:768.827556 # Seafloor depth:-808.827556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 59.325926 meters # Minimum depth: 807.842106 meters looking forward 0.000000 meters along route # Maximum depth: 807.842106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 767.842106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.835933; longitude = -118.704296; captureRadius = 10; duration = 59; initialDepth = 767.497878; finalDepth = 767.842106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:767.842106 # Seafloor depth:-807.842106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 59.325926 meters # Minimum depth: 807.497878 meters looking forward 0.000000 meters along route # Maximum depth: 807.497878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 767.497878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.836416; longitude = -118.703976; captureRadius = 10; duration = 59; initialDepth = 767.025945; finalDepth = 767.497878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:767.497878 # Seafloor depth:-807.497878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 59.325926 meters # Minimum depth: 807.025945 meters looking forward 0.000000 meters along route # Maximum depth: 807.025945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 767.025945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.836835; longitude = -118.703698; captureRadius = 10; duration = 59; initialDepth = 766.987648; finalDepth = 767.025945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:767.025945 # Seafloor depth:-807.025945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 59.325926 meters # Minimum depth: 806.987648 meters looking forward 0.000000 meters along route # Maximum depth: 806.987648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 766.987648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.837232; longitude = -118.703436; captureRadius = 10; duration = 59; initialDepth = 767.022959; finalDepth = 766.987648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:766.987648 # Seafloor depth:-806.987648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 59.325926 meters # Minimum depth: 807.022959 meters looking forward 0.000000 meters along route # Maximum depth: 807.022959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 767.022959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.837647; longitude = -118.703161; captureRadius = 10; duration = 59; initialDepth = 767.509375; finalDepth = 767.022959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:767.022959 # Seafloor depth:-807.022959 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 59.325926 meters # Minimum depth: 807.509375 meters looking forward 0.000000 meters along route # Maximum depth: 807.509375 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 767.509375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.838048; longitude = -118.702895; captureRadius = 10; duration = 59; initialDepth = 763.042573; finalDepth = 767.509375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:767.509375 # Seafloor depth:-807.509375 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 59.325926 meters # Minimum depth: 803.042573 meters looking forward 0.000000 meters along route # Maximum depth: 803.042573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 763.042573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.838458; longitude = -118.702623; captureRadius = 10; duration = 59; initialDepth = 760.272215; finalDepth = 763.042573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:763.042573 # Seafloor depth:-803.042573 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 59.325926 meters # Minimum depth: 800.272215 meters looking forward 0.000000 meters along route # Maximum depth: 800.272215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.272215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.838909; longitude = -118.702325; captureRadius = 10; duration = 59; initialDepth = 757.700115; finalDepth = 760.272215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:760.272215 # Seafloor depth:-800.272215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 59.325926 meters # Minimum depth: 797.700115 meters looking forward 0.000000 meters along route # Maximum depth: 797.700115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.700115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.839360; longitude = -118.702026; captureRadius = 10; duration = 59; initialDepth = 755.446230; finalDepth = 757.700115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:757.700115 # Seafloor depth:-797.700115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 59.325926 meters # Minimum depth: 795.446230 meters looking forward 0.000000 meters along route # Maximum depth: 795.446230 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.446230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.839842; longitude = -118.701707; captureRadius = 10; duration = 59; initialDepth = 753.711217; finalDepth = 755.446230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:755.44623 # Seafloor depth:-795.446230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 59.325926 meters # Minimum depth: 793.711217 meters looking forward 0.000000 meters along route # Maximum depth: 793.711217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.711217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.840262; longitude = -118.701429; captureRadius = 10; duration = 59; initialDepth = 751.932264; finalDepth = 753.711217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:753.711217 # Seafloor depth:-793.711217 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 59.325926 meters # Minimum depth: 791.932264 meters looking forward 0.000000 meters along route # Maximum depth: 791.932264 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.932264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.840657; longitude = -118.701167; captureRadius = 10; duration = 59; initialDepth = 751.279121; finalDepth = 751.932264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:751.932264 # Seafloor depth:-791.932264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 59.325926 meters # Minimum depth: 791.279121 meters looking forward 0.000000 meters along route # Maximum depth: 791.279121 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.279121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.841074; longitude = -118.700891; captureRadius = 10; duration = 59; initialDepth = 751.412078; finalDepth = 751.279121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:751.279121 # Seafloor depth:-791.279121 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 59.325926 meters # Minimum depth: 791.412078 meters looking forward 0.000000 meters along route # Maximum depth: 791.412078 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.412078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.841473; longitude = -118.700627; captureRadius = 10; duration = 59; initialDepth = 750.225764; finalDepth = 751.412078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:751.412078 # Seafloor depth:-791.412078 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 59.325926 meters # Minimum depth: 790.225764 meters looking forward 0.000000 meters along route # Maximum depth: 790.225764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.225764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.841885; longitude = -118.700354; captureRadius = 10; duration = 59; initialDepth = 748.646573; finalDepth = 750.225764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:750.225764 # Seafloor depth:-790.225764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 59.325926 meters # Minimum depth: 788.646573 meters looking forward 0.000000 meters along route # Maximum depth: 788.646573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 748.646573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.842288; longitude = -118.700087; captureRadius = 10; duration = 59; initialDepth = 747.145451; finalDepth = 748.646573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:748.646573 # Seafloor depth:-788.646573 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 59.325926 meters # Minimum depth: 787.145451 meters looking forward 0.000000 meters along route # Maximum depth: 787.145451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.145451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.842697; longitude = -118.699816; captureRadius = 10; duration = 59; initialDepth = 744.998118; finalDepth = 747.145451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:747.145451 # Seafloor depth:-787.145451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 59.325926 meters # Minimum depth: 784.998118 meters looking forward 0.000000 meters along route # Maximum depth: 784.998118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.998118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.843148; longitude = -118.699518; captureRadius = 10; duration = 59; initialDepth = 743.107437; finalDepth = 744.998118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:744.998118 # Seafloor depth:-784.998118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 59.325926 meters # Minimum depth: 783.107437 meters looking forward 0.000000 meters along route # Maximum depth: 783.107437 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.107437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.843599; longitude = -118.699219; captureRadius = 10; duration = 59; initialDepth = 741.284851; finalDepth = 743.107437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:743.107437 # Seafloor depth:-783.107437 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 59.325926 meters # Minimum depth: 781.284851 meters looking forward 0.000000 meters along route # Maximum depth: 781.284851 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.284851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.844083; longitude = -118.698898; captureRadius = 10; duration = 59; initialDepth = 738.425374; finalDepth = 741.284851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:741.284851 # Seafloor depth:-781.284851 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 59.325926 meters # Minimum depth: 778.425374 meters looking forward 0.000000 meters along route # Maximum depth: 778.425374 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.425374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.844501; longitude = -118.698622; captureRadius = 10; duration = 59; initialDepth = 731.667149; finalDepth = 738.425374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:738.425374 # Seafloor depth:-778.425374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 59.325926 meters # Minimum depth: 771.667149 meters looking forward 0.000000 meters along route # Maximum depth: 771.667149 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.667149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.844951; longitude = -118.698323; captureRadius = 10; duration = 59; initialDepth = 733.585666; finalDepth = 731.667149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:731.667149 # Seafloor depth:-771.667149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 59.325926 meters # Minimum depth: 773.585666 meters looking forward 0.000000 meters along route # Maximum depth: 773.585666 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 733.585666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.845402; longitude = -118.698024; captureRadius = 10; duration = 59; initialDepth = 717.923073; finalDepth = 733.585666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:733.585666 # Seafloor depth:-773.585666 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 59.325926 meters # Minimum depth: 757.923073 meters looking forward 0.000000 meters along route # Maximum depth: 757.923073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.923073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.845877; longitude = -118.697710; captureRadius = 10; duration = 59; initialDepth = 711.231962; finalDepth = 717.923073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:717.923073 # Seafloor depth:-757.923073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 59.325926 meters # Minimum depth: 751.231962 meters looking forward 0.000000 meters along route # Maximum depth: 751.231962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.231962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.846304; longitude = -118.697427; captureRadius = 10; duration = 59; initialDepth = 713.509795; finalDepth = 711.231962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:711.231962 # Seafloor depth:-751.231962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 59.325926 meters # Minimum depth: 753.509795 meters looking forward 0.000000 meters along route # Maximum depth: 753.509795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.509795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.846755; longitude = -118.697129; captureRadius = 10; duration = 59; initialDepth = 709.640076; finalDepth = 713.509795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.509795 # Seafloor depth:-753.509795 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 139 # Segment length 59.325926 meters # Minimum depth: 749.640076 meters looking forward 0.000000 meters along route # Maximum depth: 749.640076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.640076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847236; longitude = -118.696810; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 708.537111; finalDepth = 709.640076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:709.640076 # Seafloor depth:-749.640076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 139 # Segment length 59.325926 meters # Minimum depth: 748.537111 meters looking forward 0.000000 meters along route # Maximum depth: 748.537111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.537111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847308; longitude = -118.696738; captureRadius = 10; duration = 59; initialDepth = 706.324059; finalDepth = 708.537111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:708.537111 # Seafloor depth:-748.537111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 139 # Segment length 59.325926 meters # Minimum depth: 746.324059 meters looking forward 0.000000 meters along route # Maximum depth: 746.324059 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.324059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847657; longitude = -118.696392; captureRadius = 10; duration = 59; initialDepth = 710.599192; finalDepth = 706.324059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:706.324059 # Seafloor depth:-746.324059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 139 # Segment length 59.325926 meters # Minimum depth: 750.599192 meters looking forward 0.000000 meters along route # Maximum depth: 750.599192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.599192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848018; longitude = -118.696033; captureRadius = 10; duration = 59; initialDepth = 702.949631; finalDepth = 710.599192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:710.599192 # Seafloor depth:-750.599192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 139 # Segment length 59.325926 meters # Minimum depth: 742.949631 meters looking forward 0.000000 meters along route # Maximum depth: 742.949631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.949631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848378; longitude = -118.695675; captureRadius = 10; duration = 59; initialDepth = 700.345600; finalDepth = 702.949631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:702.949631 # Seafloor depth:-742.949631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 139 # Segment length 59.325926 meters # Minimum depth: 740.345600 meters looking forward 0.000000 meters along route # Maximum depth: 740.345600 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.345600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848739; longitude = -118.695316; captureRadius = 10; duration = 59; initialDepth = 696.973288; finalDepth = 700.345600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:700.3456 # Seafloor depth:-740.345600 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 139 # Segment length 59.325926 meters # Minimum depth: 736.973288 meters looking forward 0.000000 meters along route # Maximum depth: 736.973288 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.973288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849100; longitude = -118.694958; captureRadius = 10; duration = 59; initialDepth = 691.689489; finalDepth = 696.973288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:696.973288 # Seafloor depth:-736.973288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 139 # Segment length 59.325926 meters # Minimum depth: 731.689489 meters looking forward 0.000000 meters along route # Maximum depth: 731.689489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.689489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849482; longitude = -118.694577; captureRadius = 10; duration = 59; initialDepth = 688.608139; finalDepth = 691.689489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:691.689489 # Seafloor depth:-731.689489 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 138 # Segment length 59.325926 meters # Minimum depth: 728.608139 meters looking forward 0.000000 meters along route # Maximum depth: 728.608139 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.608139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849881; longitude = -118.694181; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 687.324419; finalDepth = 688.608139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.608139 # Seafloor depth:-728.608139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 138 # Segment length 59.325926 meters # Minimum depth: 727.324419 meters looking forward 0.000000 meters along route # Maximum depth: 727.324419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.324419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850111; longitude = -118.693929; captureRadius = 10; duration = 59; initialDepth = 685.312675; finalDepth = 687.324419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:687.324419 # Seafloor depth:-727.324419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 138 # Segment length 59.325926 meters # Minimum depth: 725.312675 meters looking forward 0.000000 meters along route # Maximum depth: 725.312675 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.312675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850452; longitude = -118.693556; captureRadius = 10; duration = 59; initialDepth = 689.728891; finalDepth = 685.312675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:685.312675 # Seafloor depth:-725.312675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 138 # Segment length 59.325926 meters # Minimum depth: 729.728891 meters looking forward 0.000000 meters along route # Maximum depth: 729.728891 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.728891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850813; longitude = -118.693162; captureRadius = 10; duration = 59; initialDepth = 692.687347; finalDepth = 689.728891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:689.728891 # Seafloor depth:-729.728891 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 138 # Segment length 59.325926 meters # Minimum depth: 732.687347 meters looking forward 0.000000 meters along route # Maximum depth: 732.687347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.687347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851198; longitude = -118.692741; captureRadius = 10; duration = 59; initialDepth = 692.664115; finalDepth = 692.687347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:692.687347 # Seafloor depth:-732.687347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 138 # Segment length 59.325926 meters # Minimum depth: 732.664115 meters looking forward 0.000000 meters along route # Maximum depth: 732.664115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.664115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851593; longitude = -118.692309; captureRadius = 10; duration = 59; initialDepth = 692.463531; finalDepth = 692.664115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:692.664115 # Seafloor depth:-732.664115 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 137 # Segment length 59.325926 meters # Minimum depth: 732.463531 meters looking forward 0.000000 meters along route # Maximum depth: 732.463531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.463531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851955; longitude = -118.691913; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 694.183658; finalDepth = 692.463531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:692.463531 # Seafloor depth:-732.463531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 137 # Segment length 59.325926 meters # Minimum depth: 734.183658 meters looking forward 0.000000 meters along route # Maximum depth: 734.183658 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.183658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852076; longitude = -118.691880; captureRadius = 10; duration = 59; initialDepth = 696.763208; finalDepth = 694.183658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.183658 # Seafloor depth:-734.183658 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 137 # Segment length 59.325926 meters # Minimum depth: 736.763208 meters looking forward 0.000000 meters along route # Maximum depth: 736.763208 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.763208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852527; longitude = -118.691757; captureRadius = 10; duration = 59; initialDepth = 694.089659; finalDepth = 696.763208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:696.763208 # Seafloor depth:-736.763208 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 137 # Segment length 59.325926 meters # Minimum depth: 734.089659 meters looking forward 0.000000 meters along route # Maximum depth: 734.089659 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.089659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852978; longitude = -118.691635; captureRadius = 10; duration = 59; initialDepth = 691.860657; finalDepth = 694.089659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.089659 # Seafloor depth:-734.089659 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 137 # Segment length 59.325926 meters # Minimum depth: 731.860657 meters looking forward 0.000000 meters along route # Maximum depth: 731.860657 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.860657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853428; longitude = -118.691512; captureRadius = 10; duration = 59; initialDepth = 689.355392; finalDepth = 691.860657; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:691.860657 # Seafloor depth:-731.860657 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 136 # Segment length 59.325926 meters # Minimum depth: 729.355392 meters looking forward 0.000000 meters along route # Maximum depth: 729.355392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.355392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853939; longitude = -118.691373; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 688.566641; finalDepth = 689.355392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:689.355392 # Seafloor depth:-729.355392 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 59.325926 meters # Minimum depth: 728.566641 meters looking forward 0.000000 meters along route # Maximum depth: 728.566641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.566641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854240; longitude = -118.691515; captureRadius = 10; duration = 59; initialDepth = 687.242956; finalDepth = 688.566641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.566641 # Seafloor depth:-728.566641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 59.325926 meters # Minimum depth: 727.242956 meters looking forward 0.000000 meters along route # Maximum depth: 727.242956 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.242956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854691; longitude = -118.691728; captureRadius = 10; duration = 59; initialDepth = 684.294846; finalDepth = 687.242956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:687.242956 # Seafloor depth:-727.242956 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 59.325926 meters # Minimum depth: 724.294846 meters looking forward 0.000000 meters along route # Maximum depth: 724.294846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.294846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855142; longitude = -118.691940; captureRadius = 10; duration = 59; initialDepth = 683.888176; finalDepth = 684.294846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:684.294846 # Seafloor depth:-724.294846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 59.325926 meters # Minimum depth: 723.888176 meters looking forward 0.000000 meters along route # Maximum depth: 723.888176 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.888176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855593; longitude = -118.692153; captureRadius = 10; duration = 59; initialDepth = 682.336879; finalDepth = 683.888176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:683.888176 # Seafloor depth:-723.888176 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 59.325926 meters # Minimum depth: 722.336879 meters looking forward 0.000000 meters along route # Maximum depth: 722.336879 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.336879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856044; longitude = -118.692366; captureRadius = 10; duration = 59; initialDepth = 680.281070; finalDepth = 682.336879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:682.336879 # Seafloor depth:-722.336879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 59.325926 meters # Minimum depth: 720.281070 meters looking forward 0.000000 meters along route # Maximum depth: 720.281070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.281070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856495; longitude = -118.692579; captureRadius = 10; duration = 59; initialDepth = 676.671036; finalDepth = 680.281070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:680.28107 # Seafloor depth:-720.281070 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 135 # Segment length 59.325926 meters # Minimum depth: 716.671036 meters looking forward 0.000000 meters along route # Maximum depth: 716.671036 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.671036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856915; longitude = -118.692777; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 672.698813; finalDepth = 676.671036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:676.671036 # Seafloor depth:-716.671036 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 135 # Segment length 59.325926 meters # Minimum depth: 712.698813 meters looking forward 0.000000 meters along route # Maximum depth: 712.698813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.698813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857306; longitude = -118.692930; captureRadius = 10; duration = 59; initialDepth = 668.808960; finalDepth = 672.698813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:672.698813 # Seafloor depth:-712.698813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 135 # Segment length 59.325926 meters # Minimum depth: 708.808960 meters looking forward 0.000000 meters along route # Maximum depth: 708.808960 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 668.808960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857757; longitude = -118.693107; captureRadius = 10; duration = 59; initialDepth = 664.493810; finalDepth = 668.808960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:668.80896 # Seafloor depth:-708.808960 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 135 # Segment length 59.325926 meters # Minimum depth: 704.493810 meters looking forward 0.000000 meters along route # Maximum depth: 704.493810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 664.493810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858208; longitude = -118.693283; captureRadius = 10; duration = 59; initialDepth = 657.619333; finalDepth = 664.493810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:664.49381 # Seafloor depth:-704.493810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 135 # Segment length 59.325926 meters # Minimum depth: 697.619333 meters looking forward 0.000000 meters along route # Maximum depth: 697.619333 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 657.619333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858659; longitude = -118.693460; captureRadius = 10; duration = 59; initialDepth = 664.516665; finalDepth = 657.619333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:657.619333 # Seafloor depth:-697.619333 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 135 # Segment length 59.325926 meters # Minimum depth: 704.516665 meters looking forward 0.000000 meters along route # Maximum depth: 704.516665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 664.516665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859110; longitude = -118.693636; captureRadius = 10; duration = 59; initialDepth = 668.822377; finalDepth = 664.516665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:664.516665 # Seafloor depth:-704.516665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 135 # Segment length 59.325926 meters # Minimum depth: 708.822377 meters looking forward 0.000000 meters along route # Maximum depth: 708.822377 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 668.822377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859583; longitude = -118.693821; captureRadius = 10; duration = 59; initialDepth = 677.068130; finalDepth = 668.822377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:668.822377 # Seafloor depth:-708.822377 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 134 # Segment length 59.325926 meters # Minimum depth: 717.068130 meters looking forward 0.000000 meters along route # Maximum depth: 717.068130 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 677.068130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860042; longitude = -118.694001; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 674.314571; finalDepth = 677.068130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:677.06813 # Seafloor depth:-717.068130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 134 # Segment length 59.325926 meters # Minimum depth: 714.314571 meters looking forward 0.000000 meters along route # Maximum depth: 714.314571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.314571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860372; longitude = -118.693898; captureRadius = 10; duration = 59; initialDepth = 673.944869; finalDepth = 674.314571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:674.314571 # Seafloor depth:-714.314571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 134 # Segment length 59.325926 meters # Minimum depth: 713.944869 meters looking forward 0.000000 meters along route # Maximum depth: 713.944869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.944869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860823; longitude = -118.693757; captureRadius = 10; duration = 59; initialDepth = 669.057242; finalDepth = 673.944869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:673.944869 # Seafloor depth:-713.944869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 134 # Segment length 59.325926 meters # Minimum depth: 709.057242 meters looking forward 0.000000 meters along route # Maximum depth: 709.057242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 669.057242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861274; longitude = -118.693617; captureRadius = 10; duration = 59; initialDepth = 671.744964; finalDepth = 669.057242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:669.057242 # Seafloor depth:-709.057242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 134 # Segment length 59.325926 meters # Minimum depth: 711.744964 meters looking forward 0.000000 meters along route # Maximum depth: 711.744964 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.744964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861725; longitude = -118.693476; captureRadius = 10; duration = 59; initialDepth = 666.421712; finalDepth = 671.744964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:671.744964 # Seafloor depth:-711.744964 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 133 # Segment length 59.325926 meters # Minimum depth: 706.421712 meters looking forward 0.000000 meters along route # Maximum depth: 706.421712 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 666.421712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862236; longitude = -118.693317; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 665.949389; finalDepth = 666.421712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:666.421712 # Seafloor depth:-706.421712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 133 # Segment length 59.325926 meters # Minimum depth: 705.949389 meters looking forward 0.000000 meters along route # Maximum depth: 705.949389 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.949389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862447; longitude = -118.693320; captureRadius = 10; duration = 59; initialDepth = 663.219121; finalDepth = 665.949389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:665.949389 # Seafloor depth:-705.949389 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 133 # Segment length 59.325926 meters # Minimum depth: 703.219121 meters looking forward 0.000000 meters along route # Maximum depth: 703.219121 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 663.219121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862897; longitude = -118.693327; captureRadius = 10; duration = 59; initialDepth = 662.297524; finalDepth = 663.219121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:663.219121 # Seafloor depth:-703.219121 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 133 # Segment length 59.325926 meters # Minimum depth: 702.297524 meters looking forward 0.000000 meters along route # Maximum depth: 702.297524 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 662.297524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863348; longitude = -118.693333; captureRadius = 10; duration = 59; initialDepth = 662.144870; finalDepth = 662.297524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:662.297524 # Seafloor depth:-702.297524 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 133 # Segment length 59.325926 meters # Minimum depth: 702.144870 meters looking forward 0.000000 meters along route # Maximum depth: 702.144870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 662.144870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863799; longitude = -118.693340; captureRadius = 10; duration = 59; initialDepth = 659.612154; finalDepth = 662.144870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:662.14487 # Seafloor depth:-702.144870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 133 # Segment length 59.325926 meters # Minimum depth: 699.612154 meters looking forward 0.000000 meters along route # Maximum depth: 699.612154 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 659.612154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864250; longitude = -118.693346; captureRadius = 10; duration = 59; initialDepth = 656.927734; finalDepth = 659.612154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:659.612154 # Seafloor depth:-699.612154 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 132 # Segment length 59.325926 meters # Minimum depth: 696.927734 meters looking forward 0.000000 meters along route # Maximum depth: 696.927734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 656.927734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864731; longitude = -118.693353; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 656.265493; finalDepth = 656.927734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:656.927734 # Seafloor depth:-696.927734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 132 # Segment length 59.325926 meters # Minimum depth: 696.265493 meters looking forward 0.000000 meters along route # Maximum depth: 696.265493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 656.265493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864791; longitude = -118.693371; captureRadius = 10; duration = 59; initialDepth = 655.405134; finalDepth = 656.265493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:656.265493 # Seafloor depth:-696.265493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 132 # Segment length 59.325926 meters # Minimum depth: 695.405134 meters looking forward 0.000000 meters along route # Maximum depth: 695.405134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 655.405134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865242; longitude = -118.693503; captureRadius = 10; duration = 59; initialDepth = 651.307957; finalDepth = 655.405134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:655.405134 # Seafloor depth:-695.405134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 132 # Segment length 59.325926 meters # Minimum depth: 691.307957 meters looking forward 0.000000 meters along route # Maximum depth: 691.307957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 651.307957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865693; longitude = -118.693635; captureRadius = 10; duration = 59; initialDepth = 648.514435; finalDepth = 651.307957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:651.307957 # Seafloor depth:-691.307957 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 132 # Segment length 59.325926 meters # Minimum depth: 688.514435 meters looking forward 0.000000 meters along route # Maximum depth: 688.514435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 648.514435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866144; longitude = -118.693767; captureRadius = 10; duration = 59; initialDepth = 647.163740; finalDepth = 648.514435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:648.514435 # Seafloor depth:-688.514435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 132 # Segment length 59.325926 meters # Minimum depth: 687.163740 meters looking forward 0.000000 meters along route # Maximum depth: 687.163740 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.163740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866595; longitude = -118.693899; captureRadius = 10; duration = 59; initialDepth = 644.464467; finalDepth = 647.163740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:647.16374 # Seafloor depth:-687.163740 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 132 # Segment length 59.325926 meters # Minimum depth: 684.464467 meters looking forward 0.000000 meters along route # Maximum depth: 684.464467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.464467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867065; longitude = -118.694037; captureRadius = 10; duration = 59; initialDepth = 641.679606; finalDepth = 644.464467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:644.464467 # Seafloor depth:-684.464467 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 131 # Segment length 59.325926 meters # Minimum depth: 681.679606 meters looking forward 0.000000 meters along route # Maximum depth: 681.679606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.679606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867557; longitude = -118.694181; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 639.614713; finalDepth = 641.679606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:641.679606 # Seafloor depth:-681.679606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 131 # Segment length 59.325926 meters # Minimum depth: 679.614713 meters looking forward 0.000000 meters along route # Maximum depth: 679.614713 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 639.614713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867948; longitude = -118.694308; captureRadius = 10; duration = 59; initialDepth = 635.742584; finalDepth = 639.614713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:639.614713 # Seafloor depth:-679.614713 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 131 # Segment length 59.325926 meters # Minimum depth: 675.742584 meters looking forward 0.000000 meters along route # Maximum depth: 675.742584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.742584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868398; longitude = -118.694455; captureRadius = 10; duration = 59; initialDepth = 634.268181; finalDepth = 635.742584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:635.742584 # Seafloor depth:-675.742584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 131 # Segment length 59.325926 meters # Minimum depth: 674.268181 meters looking forward 0.000000 meters along route # Maximum depth: 674.268181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.268181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868849; longitude = -118.694601; captureRadius = 10; duration = 59; initialDepth = 635.418864; finalDepth = 634.268181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:634.268181 # Seafloor depth:-674.268181 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 130 # Segment length 59.325926 meters # Minimum depth: 675.418864 meters looking forward 0.000000 meters along route # Maximum depth: 675.418864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.418864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869330; longitude = -118.694757; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 635.111733; finalDepth = 635.418864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:635.418864 # Seafloor depth:-675.418864 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 130 # Segment length 59.325926 meters # Minimum depth: 675.111733 meters looking forward 0.000000 meters along route # Maximum depth: 675.111733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.111733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869481; longitude = -118.694757; captureRadius = 10; duration = 59; initialDepth = 635.084311; finalDepth = 635.111733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:635.111733 # Seafloor depth:-675.111733 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 130 # Segment length 59.325926 meters # Minimum depth: 675.084311 meters looking forward 0.000000 meters along route # Maximum depth: 675.084311 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.084311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869932; longitude = -118.694757; captureRadius = 10; duration = 59; initialDepth = 634.849868; finalDepth = 635.084311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:635.084311 # Seafloor depth:-675.084311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 130 # Segment length 59.325926 meters # Minimum depth: 674.849868 meters looking forward 0.000000 meters along route # Maximum depth: 674.849868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.849868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870382; longitude = -118.694757; captureRadius = 10; duration = 59; initialDepth = 633.718443; finalDepth = 634.849868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:634.849868 # Seafloor depth:-674.849868 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 130 # Segment length 59.325926 meters # Minimum depth: 673.718443 meters looking forward 0.000000 meters along route # Maximum depth: 673.718443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 633.718443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870833; longitude = -118.694757; captureRadius = 10; duration = 59; initialDepth = 632.692918; finalDepth = 633.718443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:633.718443 # Seafloor depth:-673.718443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 130 # Segment length 59.325926 meters # Minimum depth: 672.692918 meters looking forward 0.000000 meters along route # Maximum depth: 672.692918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 632.692918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871284; longitude = -118.694757; captureRadius = 10; duration = 59; initialDepth = 632.411217; finalDepth = 632.692918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:632.692918 # Seafloor depth:-672.692918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 130 # Segment length 59.325926 meters # Minimum depth: 672.411217 meters looking forward 0.000000 meters along route # Maximum depth: 672.411217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 632.411217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871735; longitude = -118.694757; captureRadius = 10; duration = 59; initialDepth = 630.406769; finalDepth = 632.411217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:632.411217 # Seafloor depth:-672.411217 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 129 # Segment length 59.325926 meters # Minimum depth: 670.406769 meters looking forward 0.000000 meters along route # Maximum depth: 670.406769 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.406769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872216; longitude = -118.694757; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 630.847763; finalDepth = 630.406769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:630.406769 # Seafloor depth:-670.406769 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 129 # Segment length 59.325926 meters # Minimum depth: 670.847763 meters looking forward 0.000000 meters along route # Maximum depth: 670.847763 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.847763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872366; longitude = -118.694796; captureRadius = 10; duration = 59; initialDepth = 630.605062; finalDepth = 630.847763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:630.847763 # Seafloor depth:-670.847763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 129 # Segment length 59.325926 meters # Minimum depth: 670.605062 meters looking forward 0.000000 meters along route # Maximum depth: 670.605062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.605062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872817; longitude = -118.694915; captureRadius = 10; duration = 59; initialDepth = 631.532673; finalDepth = 630.605062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:630.605062 # Seafloor depth:-670.605062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 129 # Segment length 59.325926 meters # Minimum depth: 671.532673 meters looking forward 0.000000 meters along route # Maximum depth: 671.532673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 631.532673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873268; longitude = -118.695033; captureRadius = 10; duration = 59; initialDepth = 631.240937; finalDepth = 631.532673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:631.532673 # Seafloor depth:-671.532673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 129 # Segment length 59.325926 meters # Minimum depth: 671.240937 meters looking forward 0.000000 meters along route # Maximum depth: 671.240937 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 631.240937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873719; longitude = -118.695151; captureRadius = 10; duration = 59; initialDepth = 622.140935; finalDepth = 631.240937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:631.240937 # Seafloor depth:-671.240937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 129 # Segment length 59.325926 meters # Minimum depth: 662.140935 meters looking forward 0.000000 meters along route # Maximum depth: 662.140935 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.140935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874170; longitude = -118.695269; captureRadius = 10; duration = 59; initialDepth = 613.657880; finalDepth = 622.140935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:622.140935 # Seafloor depth:-662.140935 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 129 # Segment length 59.325926 meters # Minimum depth: 653.657880 meters looking forward 0.000000 meters along route # Maximum depth: 653.657880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 613.657880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874621; longitude = -118.695388; captureRadius = 10; duration = 59; initialDepth = 611.983480; finalDepth = 613.657880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:613.65788 # Seafloor depth:-653.657880 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 128 # Segment length 59.325926 meters # Minimum depth: 651.983480 meters looking forward 0.000000 meters along route # Maximum depth: 651.983480 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.983480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875102; longitude = -118.695514; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 606.140680; finalDepth = 611.983480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:611.98348 # Seafloor depth:-651.983480 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 59.325926 meters # Minimum depth: 646.140680 meters looking forward 0.000000 meters along route # Maximum depth: 646.140680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 606.140680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875523; longitude = -118.695296; captureRadius = 10; duration = 59; initialDepth = 612.030365; finalDepth = 606.140680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:606.14068 # Seafloor depth:-646.140680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 59.325926 meters # Minimum depth: 652.030365 meters looking forward 0.000000 meters along route # Maximum depth: 652.030365 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.030365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875974; longitude = -118.695064; captureRadius = 10; duration = 59; initialDepth = 608.273139; finalDepth = 612.030365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:612.030365 # Seafloor depth:-652.030365 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 59.325926 meters # Minimum depth: 648.273139 meters looking forward 0.000000 meters along route # Maximum depth: 648.273139 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.273139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876425; longitude = -118.694831; captureRadius = 10; duration = 59; initialDepth = 599.805013; finalDepth = 608.273139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.273139 # Seafloor depth:-648.273139 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 127 # Segment length 59.325926 meters # Minimum depth: 639.805013 meters looking forward 0.000000 meters along route # Maximum depth: 639.805013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.805013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876845; longitude = -118.694613; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 603.956682; finalDepth = 599.805013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:599.805013 # Seafloor depth:-639.805013 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 59.325926 meters # Minimum depth: 643.956682 meters looking forward 0.000000 meters along route # Maximum depth: 643.956682 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.956682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877236; longitude = -118.694814; captureRadius = 10; duration = 59; initialDepth = 603.333935; finalDepth = 603.956682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:603.956682 # Seafloor depth:-643.956682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 59.325926 meters # Minimum depth: 643.333935 meters looking forward 0.000000 meters along route # Maximum depth: 643.333935 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.333935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877687; longitude = -118.695046; captureRadius = 10; duration = 59; initialDepth = 600.961349; finalDepth = 603.333935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:603.333935 # Seafloor depth:-643.333935 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 126 # Segment length 59.325926 meters # Minimum depth: 640.961349 meters looking forward 0.000000 meters along route # Maximum depth: 640.961349 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.961349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878108; longitude = -118.695262; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 600.449331; finalDepth = 600.961349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.961349 # Seafloor depth:-640.961349 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 126 # Segment length 59.325926 meters # Minimum depth: 640.449331 meters looking forward 0.000000 meters along route # Maximum depth: 640.449331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.449331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878194; longitude = -118.695334; captureRadius = 10; duration = 59; initialDepth = 598.686426; finalDepth = 600.449331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.449331 # Seafloor depth:-640.449331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 126 # Segment length 59.325926 meters # Minimum depth: 638.686426 meters looking forward 0.000000 meters along route # Maximum depth: 638.686426 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 598.686426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878589; longitude = -118.695663; captureRadius = 10; duration = 59; initialDepth = 595.875052; finalDepth = 598.686426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:598.686426 # Seafloor depth:-638.686426 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 126 # Segment length 59.325926 meters # Minimum depth: 635.875052 meters looking forward 0.000000 meters along route # Maximum depth: 635.875052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.875052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878972; longitude = -118.695982; captureRadius = 10; duration = 59; initialDepth = 592.839193; finalDepth = 595.875052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:595.875052 # Seafloor depth:-635.875052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 126 # Segment length 59.325926 meters # Minimum depth: 632.839193 meters looking forward 0.000000 meters along route # Maximum depth: 632.839193 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 592.839193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879361; longitude = -118.696306; captureRadius = 10; duration = 59; initialDepth = 591.959111; finalDepth = 592.839193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:592.839193 # Seafloor depth:-632.839193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 126 # Segment length 59.325926 meters # Minimum depth: 631.959111 meters looking forward 0.000000 meters along route # Maximum depth: 631.959111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.959111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879761; longitude = -118.696639; captureRadius = 10; duration = 59; initialDepth = 585.572428; finalDepth = 591.959111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.959111 # Seafloor depth:-631.959111 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 125 # Segment length 59.325926 meters # Minimum depth: 625.572428 meters looking forward 0.000000 meters along route # Maximum depth: 625.572428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.572428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880182; longitude = -118.696990; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 580.045672; finalDepth = 585.572428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.572428 # Seafloor depth:-625.572428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 59.325926 meters # Minimum depth: 620.045672 meters looking forward 0.000000 meters along route # Maximum depth: 620.045672 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.045672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880483; longitude = -118.697093; captureRadius = 10; duration = 59; initialDepth = 574.357500; finalDepth = 580.045672; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.045672 # Seafloor depth:-620.045672 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 59.325926 meters # Minimum depth: 614.357500 meters looking forward 0.000000 meters along route # Maximum depth: 614.357500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.357500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880934; longitude = -118.697247; captureRadius = 10; duration = 59; initialDepth = 581.807292; finalDepth = 574.357500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.3575 # Seafloor depth:-614.357500 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 124 # Segment length 59.325926 meters # Minimum depth: 621.807292 meters looking forward 0.000000 meters along route # Maximum depth: 621.807292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.807292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881445; longitude = -118.697422; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 579.223997; finalDepth = 581.807292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.807292 # Seafloor depth:-621.807292 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 124 # Segment length 59.325926 meters # Minimum depth: 619.223997 meters looking forward 0.000000 meters along route # Maximum depth: 619.223997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.223997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881574; longitude = -118.697170; captureRadius = 10; duration = 59; initialDepth = 585.610121; finalDepth = 579.223997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.223997 # Seafloor depth:-619.223997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 124 # Segment length 59.325926 meters # Minimum depth: 625.610121 meters looking forward 0.000000 meters along route # Maximum depth: 625.610121 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.610121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881850; longitude = -118.696630; captureRadius = 10; duration = 59; initialDepth = 584.374190; finalDepth = 585.610121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.610121 # Seafloor depth:-625.610121 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 124 # Segment length 59.325926 meters # Minimum depth: 624.374190 meters looking forward 0.000000 meters along route # Maximum depth: 624.374190 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.374190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882106; longitude = -118.696130; captureRadius = 10; duration = 59; initialDepth = 580.499592; finalDepth = 584.374190; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.37419 # Seafloor depth:-624.374190 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 124 # Segment length 59.325926 meters # Minimum depth: 620.499592 meters looking forward 0.000000 meters along route # Maximum depth: 620.499592 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.499592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882347; longitude = -118.695658; captureRadius = 10; duration = 59; initialDepth = 574.204997; finalDepth = 580.499592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.499592 # Seafloor depth:-620.499592 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 123 # Segment length 59.325926 meters # Minimum depth: 614.204997 meters looking forward 0.000000 meters along route # Maximum depth: 614.204997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.204997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882587; longitude = -118.695190; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 575.295330; finalDepth = 574.204997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.204997 # Seafloor depth:-614.204997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 59.325926 meters # Minimum depth: 615.295330 meters looking forward 0.000000 meters along route # Maximum depth: 615.295330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.295330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882737; longitude = -118.695179; captureRadius = 10; duration = 59; initialDepth = 571.348325; finalDepth = 575.295330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.29533 # Seafloor depth:-615.295330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 59.325926 meters # Minimum depth: 611.348325 meters looking forward 0.000000 meters along route # Maximum depth: 611.348325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.348325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883188; longitude = -118.695147; captureRadius = 10; duration = 59; initialDepth = 565.492034; finalDepth = 571.348325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.348325 # Seafloor depth:-611.348325 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 59.325926 meters # Minimum depth: 605.492034 meters looking forward 0.000000 meters along route # Maximum depth: 605.492034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.492034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883639; longitude = -118.695115; captureRadius = 10; duration = 59; initialDepth = 554.381592; finalDepth = 565.492034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.492034 # Seafloor depth:-605.492034 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 122 # Segment length 59.325926 meters # Minimum depth: 594.381592 meters looking forward 0.000000 meters along route # Maximum depth: 594.381592 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.381592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884120; longitude = -118.695082; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 554.866141; finalDepth = 554.381592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.381592 # Seafloor depth:-594.381592 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 122 # Segment length 59.325926 meters # Minimum depth: 594.866141 meters looking forward 0.000000 meters along route # Maximum depth: 594.866141 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.866141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884161; longitude = -118.695118; captureRadius = 10; duration = 59; initialDepth = 553.967642; finalDepth = 554.866141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.866141 # Seafloor depth:-594.866141 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 122 # Segment length 59.325926 meters # Minimum depth: 593.967642 meters looking forward 0.000000 meters along route # Maximum depth: 593.967642 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.967642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884527; longitude = -118.695442; captureRadius = 10; duration = 59; initialDepth = 553.888026; finalDepth = 553.967642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.967642 # Seafloor depth:-593.967642 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 122 # Segment length 59.325926 meters # Minimum depth: 593.888026 meters looking forward 0.000000 meters along route # Maximum depth: 593.888026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.888026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884893; longitude = -118.695766; captureRadius = 10; duration = 59; initialDepth = 552.054221; finalDepth = 553.888026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.888026 # Seafloor depth:-593.888026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 122 # Segment length 59.325926 meters # Minimum depth: 592.054221 meters looking forward 0.000000 meters along route # Maximum depth: 592.054221 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.054221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885262; longitude = -118.696092; captureRadius = 10; duration = 59; initialDepth = 551.765894; finalDepth = 552.054221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.054221 # Seafloor depth:-592.054221 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 122 # Segment length 59.325926 meters # Minimum depth: 591.765894 meters looking forward 0.000000 meters along route # Maximum depth: 591.765894 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.765894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885626; longitude = -118.696414; captureRadius = 10; duration = 59; initialDepth = 552.382852; finalDepth = 551.765894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.765894 # Seafloor depth:-591.765894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 122 # Segment length 59.325926 meters # Minimum depth: 592.382852 meters looking forward 0.000000 meters along route # Maximum depth: 592.382852 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.382852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885992; longitude = -118.696738; captureRadius = 10; duration = 59; initialDepth = 553.706566; finalDepth = 552.382852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.382852 # Seafloor depth:-592.382852 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 122 # Segment length 59.325926 meters # Minimum depth: 593.706566 meters looking forward 0.000000 meters along route # Maximum depth: 593.706566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.706566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.886358; longitude = -118.697062; captureRadius = 10; duration = 59; initialDepth = 554.715495; finalDepth = 553.706566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.706566 # Seafloor depth:-593.706566 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 121 # Segment length 59.325926 meters # Minimum depth: 594.715495 meters looking forward 0.000000 meters along route # Maximum depth: 594.715495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.715495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.886765; longitude = -118.697422; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 552.865918; finalDepth = 554.715495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.715495 # Seafloor depth:-594.715495 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 59.325926 meters # Minimum depth: 592.865918 meters looking forward 0.000000 meters along route # Maximum depth: 592.865918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.865918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.886886; longitude = -118.697414; captureRadius = 10; duration = 59; initialDepth = 547.000509; finalDepth = 552.865918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.865918 # Seafloor depth:-592.865918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 59.325926 meters # Minimum depth: 587.000509 meters looking forward 0.000000 meters along route # Maximum depth: 587.000509 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.000509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.887337; longitude = -118.697382; captureRadius = 10; duration = 59; initialDepth = 550.033569; finalDepth = 547.000509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.000509 # Seafloor depth:-587.000509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 59.325926 meters # Minimum depth: 590.033569 meters looking forward 0.000000 meters along route # Maximum depth: 590.033569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.033569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.887787; longitude = -118.697350; captureRadius = 10; duration = 59; initialDepth = 554.221029; finalDepth = 550.033569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:550.033569 # Seafloor depth:-590.033569 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 120 # Segment length 59.325926 meters # Minimum depth: 594.221029 meters looking forward 0.000000 meters along route # Maximum depth: 594.221029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.221029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.888298; longitude = -118.697314; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 554.196187; finalDepth = 554.221029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.221029 # Seafloor depth:-594.221029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 59.325926 meters # Minimum depth: 594.196187 meters looking forward 0.000000 meters along route # Maximum depth: 594.196187 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.196187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.888329; longitude = -118.697266; captureRadius = 10; duration = 59; initialDepth = 553.383097; finalDepth = 554.196187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.196187 # Seafloor depth:-594.196187 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 59.325926 meters # Minimum depth: 593.383097 meters looking forward 0.000000 meters along route # Maximum depth: 593.383097 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.383097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.888659; longitude = -118.696738; captureRadius = 10; duration = 59; initialDepth = 551.740072; finalDepth = 553.383097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.383097 # Seafloor depth:-593.383097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 59.325926 meters # Minimum depth: 591.740072 meters looking forward 0.000000 meters along route # Maximum depth: 591.740072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.740072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.888960; longitude = -118.696258; captureRadius = 10; duration = 59; initialDepth = 548.601746; finalDepth = 551.740072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.740072 # Seafloor depth:-591.740072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 59.325926 meters # Minimum depth: 588.601746 meters looking forward 0.000000 meters along route # Maximum depth: 588.601746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.601746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.889268; longitude = -118.695766; captureRadius = 10; duration = 59; initialDepth = 543.506280; finalDepth = 548.601746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:548.601746 # Seafloor depth:-588.601746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 59.325926 meters # Minimum depth: 583.506280 meters looking forward 0.000000 meters along route # Maximum depth: 583.506280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.506280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.889591; longitude = -118.695250; captureRadius = 10; duration = 59; initialDepth = 537.094452; finalDepth = 543.506280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.50628 # Seafloor depth:-583.506280 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 59.325926 meters # Minimum depth: 577.094452 meters looking forward 0.000000 meters along route # Maximum depth: 577.094452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.094452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.889877; longitude = -118.694793; captureRadius = 10; duration = 59; initialDepth = 529.583740; finalDepth = 537.094452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.094452 # Seafloor depth:-577.094452 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 119 # Segment length 59.325926 meters # Minimum depth: 569.583740 meters looking forward 0.000000 meters along route # Maximum depth: 569.583740 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.583740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.890192; longitude = -118.694289; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 526.710663; finalDepth = 529.583740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:529.58374 # Seafloor depth:-569.583740 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 59.325926 meters # Minimum depth: 566.710663 meters looking forward 0.000000 meters along route # Maximum depth: 566.710663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 526.710663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.890403; longitude = -118.694075; captureRadius = 10; duration = 59; initialDepth = 515.928958; finalDepth = 526.710663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:526.710663 # Seafloor depth:-566.710663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 59.325926 meters # Minimum depth: 555.928958 meters looking forward 0.000000 meters along route # Maximum depth: 555.928958 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.928958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.890763; longitude = -118.693708; captureRadius = 10; duration = 59; initialDepth = 513.801804; finalDepth = 515.928958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:515.928958 # Seafloor depth:-555.928958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 59.325926 meters # Minimum depth: 553.801804 meters looking forward 0.000000 meters along route # Maximum depth: 553.801804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.801804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.891124; longitude = -118.693341; captureRadius = 10; duration = 59; initialDepth = 509.177400; finalDepth = 513.801804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.801804 # Seafloor depth:-553.801804 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 59.325926 meters # Minimum depth: 549.177400 meters looking forward 0.000000 meters along route # Maximum depth: 549.177400 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.177400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.891501; longitude = -118.692957; captureRadius = 10; duration = 59; initialDepth = 506.929794; finalDepth = 509.177400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:509.1774 # Seafloor depth:-549.177400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 59.325926 meters # Minimum depth: 546.929794 meters looking forward 0.000000 meters along route # Maximum depth: 546.929794 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.929794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.891846; longitude = -118.692606; captureRadius = 10; duration = 59; initialDepth = 507.503454; finalDepth = 506.929794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.929794 # Seafloor depth:-546.929794 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 59.325926 meters # Minimum depth: 547.503454 meters looking forward 0.000000 meters along route # Maximum depth: 547.503454 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.503454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.892243; longitude = -118.692201; captureRadius = 10; duration = 59; initialDepth = 506.288696; finalDepth = 507.503454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:507.503454 # Seafloor depth:-547.503454 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 118 # Segment length 59.325926 meters # Minimum depth: 546.288696 meters looking forward 0.000000 meters along route # Maximum depth: 546.288696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.288696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.892597; longitude = -118.691841; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 506.221403; finalDepth = 506.288696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.288696 # Seafloor depth:-546.288696 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 59.325926 meters # Minimum depth: 546.221403 meters looking forward 0.000000 meters along route # Maximum depth: 546.221403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.221403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.892747; longitude = -118.691689; captureRadius = 10; duration = 59; initialDepth = 507.967135; finalDepth = 506.221403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.221403 # Seafloor depth:-546.221403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 59.325926 meters # Minimum depth: 547.967135 meters looking forward 0.000000 meters along route # Maximum depth: 547.967135 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.967135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.893108; longitude = -118.691327; captureRadius = 10; duration = 59; initialDepth = 505.217218; finalDepth = 507.967135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:507.967135 # Seafloor depth:-547.967135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 59.325926 meters # Minimum depth: 545.217218 meters looking forward 0.000000 meters along route # Maximum depth: 545.217218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.217218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.893469; longitude = -118.690964; captureRadius = 10; duration = 59; initialDepth = 509.623254; finalDepth = 505.217218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.217218 # Seafloor depth:-545.217218 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 59.325926 meters # Minimum depth: 549.623254 meters looking forward 0.000000 meters along route # Maximum depth: 549.623254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.623254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.893830; longitude = -118.690601; captureRadius = 10; duration = 59; initialDepth = 510.786771; finalDepth = 509.623254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:509.623254 # Seafloor depth:-549.623254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 59.325926 meters # Minimum depth: 550.786771 meters looking forward 0.000000 meters along route # Maximum depth: 550.786771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.786771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.894190; longitude = -118.690238; captureRadius = 10; duration = 59; initialDepth = 513.141288; finalDepth = 510.786771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:510.786771 # Seafloor depth:-550.786771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 59.325926 meters # Minimum depth: 553.141288 meters looking forward 0.000000 meters along route # Maximum depth: 553.141288 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.141288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.894551; longitude = -118.689875; captureRadius = 10; duration = 59; initialDepth = 513.546937; finalDepth = 513.141288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.141288 # Seafloor depth:-553.141288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 59.325926 meters # Minimum depth: 553.546937 meters looking forward 0.000000 meters along route # Maximum depth: 553.546937 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.546937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.894923; longitude = -118.689500; captureRadius = 10; duration = 59; initialDepth = 512.460239; finalDepth = 513.546937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.546937 # Seafloor depth:-553.546937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 59.325926 meters # Minimum depth: 552.460239 meters looking forward 0.000000 meters along route # Maximum depth: 552.460239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 512.460239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.895272; longitude = -118.689149; captureRadius = 10; duration = 59; initialDepth = 509.992784; finalDepth = 512.460239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:512.460239 # Seafloor depth:-552.460239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 59.325926 meters # Minimum depth: 549.992784 meters looking forward 0.000000 meters along route # Maximum depth: 549.992784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.992784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.895633; longitude = -118.688786; captureRadius = 10; duration = 59; initialDepth = 503.390425; finalDepth = 509.992784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:509.992784 # Seafloor depth:-549.992784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 59.325926 meters # Minimum depth: 543.390425 meters looking forward 0.000000 meters along route # Maximum depth: 543.390425 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.390425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.895997; longitude = -118.688420; captureRadius = 10; duration = 59; initialDepth = 500.241374; finalDepth = 503.390425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.390425 # Seafloor depth:-543.390425 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 59.325926 meters # Minimum depth: 540.241374 meters looking forward 0.000000 meters along route # Maximum depth: 540.241374 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.241374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.896355; longitude = -118.688060; captureRadius = 10; duration = 59; initialDepth = 500.689290; finalDepth = 500.241374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.241374 # Seafloor depth:-540.241374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 59.325926 meters # Minimum depth: 540.689290 meters looking forward 0.000000 meters along route # Maximum depth: 540.689290 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.689290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.896748; longitude = -118.687664; captureRadius = 10; duration = 59; initialDepth = 499.298584; finalDepth = 500.689290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.68929 # Seafloor depth:-540.689290 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 117 # Segment length 59.325926 meters # Minimum depth: 539.298584 meters looking forward 0.000000 meters along route # Maximum depth: 539.298584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.298584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.897106; longitude = -118.687304; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 498.754089; finalDepth = 499.298584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.298584 # Seafloor depth:-539.298584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 59.325926 meters # Minimum depth: 538.754089 meters looking forward 0.000000 meters along route # Maximum depth: 538.754089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.754089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.897153; longitude = -118.687232; captureRadius = 10; duration = 59; initialDepth = 499.933411; finalDepth = 498.754089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.754089 # Seafloor depth:-538.754089 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 59.325926 meters # Minimum depth: 539.933411 meters looking forward 0.000000 meters along route # Maximum depth: 539.933411 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.933411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.897437; longitude = -118.686799; captureRadius = 10; duration = 59; initialDepth = 499.876735; finalDepth = 499.933411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.933411 # Seafloor depth:-539.933411 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 59.325926 meters # Minimum depth: 539.876735 meters looking forward 0.000000 meters along route # Maximum depth: 539.876735 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.876735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.897720; longitude = -118.686367; captureRadius = 10; duration = 59; initialDepth = 503.131975; finalDepth = 499.876735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.876735 # Seafloor depth:-539.876735 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 59.325926 meters # Minimum depth: 543.131975 meters looking forward 0.000000 meters along route # Maximum depth: 543.131975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.131975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.898004; longitude = -118.685935; captureRadius = 10; duration = 59; initialDepth = 503.718419; finalDepth = 503.131975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.131975 # Seafloor depth:-543.131975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 59.325926 meters # Minimum depth: 543.718419 meters looking forward 0.000000 meters along route # Maximum depth: 543.718419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.718419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.898287; longitude = -118.685503; captureRadius = 10; duration = 59; initialDepth = 505.049142; finalDepth = 503.718419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.718419 # Seafloor depth:-543.718419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 59.325926 meters # Minimum depth: 545.049142 meters looking forward 0.000000 meters along route # Maximum depth: 545.049142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.049142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.898571; longitude = -118.685071; captureRadius = 10; duration = 59; initialDepth = 503.741028; finalDepth = 505.049142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.049142 # Seafloor depth:-545.049142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 59.325926 meters # Minimum depth: 543.741028 meters looking forward 0.000000 meters along route # Maximum depth: 543.741028 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.741028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.898854; longitude = -118.684639; captureRadius = 10; duration = 59; initialDepth = 501.376535; finalDepth = 503.741028; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.741028 # Seafloor depth:-543.741028 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 59.325926 meters # Minimum depth: 541.376535 meters looking forward 0.000000 meters along route # Maximum depth: 541.376535 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.376535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.899137; longitude = -118.684207; captureRadius = 10; duration = 59; initialDepth = 500.717041; finalDepth = 501.376535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:501.376535 # Seafloor depth:-541.376535 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 59.325926 meters # Minimum depth: 540.717041 meters looking forward 0.000000 meters along route # Maximum depth: 540.717041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.717041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.899421; longitude = -118.683775; captureRadius = 10; duration = 59; initialDepth = 496.692424; finalDepth = 500.717041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.717041 # Seafloor depth:-540.717041 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 116 # Segment length 59.325926 meters # Minimum depth: 536.692424 meters looking forward 0.000000 meters along route # Maximum depth: 536.692424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.692424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.899751; longitude = -118.683271; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 496.145846; finalDepth = 496.692424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:496.692424 # Seafloor depth:-536.692424 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 59.325926 meters # Minimum depth: 536.145846 meters looking forward 0.000000 meters along route # Maximum depth: 536.145846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.145846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.899783; longitude = -118.683235; captureRadius = 10; duration = 59; initialDepth = 493.715448; finalDepth = 496.145846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:496.145846 # Seafloor depth:-536.145846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 59.325926 meters # Minimum depth: 533.715448 meters looking forward 0.000000 meters along route # Maximum depth: 533.715448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 493.715448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.900156; longitude = -118.682803; captureRadius = 10; duration = 59; initialDepth = 491.691227; finalDepth = 493.715448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:493.715448 # Seafloor depth:-533.715448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 59.325926 meters # Minimum depth: 531.691227 meters looking forward 0.000000 meters along route # Maximum depth: 531.691227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.691227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.900530; longitude = -118.682370; captureRadius = 10; duration = 59; initialDepth = 488.978045; finalDepth = 491.691227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:491.691227 # Seafloor depth:-531.691227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 59.325926 meters # Minimum depth: 528.978045 meters looking forward 0.000000 meters along route # Maximum depth: 528.978045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.978045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.900864; longitude = -118.681985; captureRadius = 10; duration = 59; initialDepth = 482.913589; finalDepth = 488.978045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:488.978045 # Seafloor depth:-528.978045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 59.325926 meters # Minimum depth: 522.913589 meters looking forward 0.000000 meters along route # Maximum depth: 522.913589 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.913589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.901224; longitude = -118.681568; captureRadius = 10; duration = 59; initialDepth = 478.769952; finalDepth = 482.913589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.913589 # Seafloor depth:-522.913589 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 59.325926 meters # Minimum depth: 518.769952 meters looking forward 0.000000 meters along route # Maximum depth: 518.769952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.769952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.901585; longitude = -118.681151; captureRadius = 10; duration = 59; initialDepth = 474.333876; finalDepth = 478.769952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:478.769952 # Seafloor depth:-518.769952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 59.325926 meters # Minimum depth: 514.333876 meters looking forward 0.000000 meters along route # Maximum depth: 514.333876 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 474.333876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.901946; longitude = -118.680734; captureRadius = 10; duration = 59; initialDepth = 472.315720; finalDepth = 474.333876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:474.333876 # Seafloor depth:-514.333876 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 115 # Segment length 59.325926 meters # Minimum depth: 512.315720 meters looking forward 0.000000 meters along route # Maximum depth: 512.315720 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.315720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.902337; longitude = -118.680282; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 469.303910; finalDepth = 472.315720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:472.31572 # Seafloor depth:-512.315720 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 59.325926 meters # Minimum depth: 509.303910 meters looking forward 0.000000 meters along route # Maximum depth: 509.303910 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 469.303910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.902534; longitude = -118.679886; captureRadius = 10; duration = 59; initialDepth = 468.065306; finalDepth = 469.303910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:469.30391 # Seafloor depth:-509.303910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 59.325926 meters # Minimum depth: 508.065306 meters looking forward 0.000000 meters along route # Maximum depth: 508.065306 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 468.065306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.902802; longitude = -118.679346; captureRadius = 10; duration = 59; initialDepth = 467.029137; finalDepth = 468.065306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:468.065306 # Seafloor depth:-508.065306 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 59.325926 meters # Minimum depth: 507.029137 meters looking forward 0.000000 meters along route # Maximum depth: 507.029137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.029137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.903070; longitude = -118.678806; captureRadius = 10; duration = 59; initialDepth = 462.781292; finalDepth = 467.029137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:467.029137 # Seafloor depth:-507.029137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 59.325926 meters # Minimum depth: 502.781292 meters looking forward 0.000000 meters along route # Maximum depth: 502.781292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.781292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.903338; longitude = -118.678265; captureRadius = 10; duration = 59; initialDepth = 461.352206; finalDepth = 462.781292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:462.781292 # Seafloor depth:-502.781292 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 59.325926 meters # Minimum depth: 501.352206 meters looking forward 0.000000 meters along route # Maximum depth: 501.352206 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 461.352206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.903606; longitude = -118.677725; captureRadius = 10; duration = 59; initialDepth = 460.797128; finalDepth = 461.352206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:461.352206 # Seafloor depth:-501.352206 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 59.325926 meters # Minimum depth: 500.797128 meters looking forward 0.000000 meters along route # Maximum depth: 500.797128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.797128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.903840; longitude = -118.677254; captureRadius = 10; duration = 59; initialDepth = 458.398146; finalDepth = 460.797128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:460.797128 # Seafloor depth:-500.797128 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 59.325926 meters # Minimum depth: 498.398146 meters looking forward 0.000000 meters along route # Maximum depth: 498.398146 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.398146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.904088; longitude = -118.676753; captureRadius = 10; duration = 59; initialDepth = 458.127238; finalDepth = 458.398146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.398146 # Seafloor depth:-498.398146 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 114 # Segment length 59.325926 meters # Minimum depth: 498.127238 meters looking forward 0.000000 meters along route # Maximum depth: 498.127238 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.127238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.904321; longitude = -118.676285; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 457.546335; finalDepth = 458.127238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.127238 # Seafloor depth:-498.127238 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 59.325926 meters # Minimum depth: 497.546335 meters looking forward 0.000000 meters along route # Maximum depth: 497.546335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.546335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.904333; longitude = -118.676213; captureRadius = 10; duration = 59; initialDepth = 457.788188; finalDepth = 457.546335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.546335 # Seafloor depth:-497.546335 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 59.325926 meters # Minimum depth: 497.788188 meters looking forward 0.000000 meters along route # Maximum depth: 497.788188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.788188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.904424; longitude = -118.675673; captureRadius = 10; duration = 59; initialDepth = 460.600090; finalDepth = 457.788188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.788188 # Seafloor depth:-497.788188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 59.325926 meters # Minimum depth: 500.600090 meters looking forward 0.000000 meters along route # Maximum depth: 500.600090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.600090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.904515; longitude = -118.675133; captureRadius = 10; duration = 59; initialDepth = 461.179504; finalDepth = 460.600090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:460.60009 # Seafloor depth:-500.600090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 59.325926 meters # Minimum depth: 501.179504 meters looking forward 0.000000 meters along route # Maximum depth: 501.179504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 461.179504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.904606; longitude = -118.674592; captureRadius = 10; duration = 59; initialDepth = 462.213724; finalDepth = 461.179504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:461.179504 # Seafloor depth:-501.179504 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 59.325926 meters # Minimum depth: 502.213724 meters looking forward 0.000000 meters along route # Maximum depth: 502.213724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.213724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.904697; longitude = -118.674052; captureRadius = 10; duration = 59; initialDepth = 460.380907; finalDepth = 462.213724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:462.213724 # Seafloor depth:-502.213724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 59.325926 meters # Minimum depth: 500.380907 meters looking forward 0.000000 meters along route # Maximum depth: 500.380907 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.380907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.904788; longitude = -118.673512; captureRadius = 10; duration = 59; initialDepth = 457.700968; finalDepth = 460.380907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:460.380907 # Seafloor depth:-500.380907 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 113 # Segment length 59.325926 meters # Minimum depth: 497.700968 meters looking forward 0.000000 meters along route # Maximum depth: 497.700968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.700968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.904892; longitude = -118.672900; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 458.331369; finalDepth = 457.700968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.700968 # Seafloor depth:-497.700968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 59.325926 meters # Minimum depth: 498.331369 meters looking forward 0.000000 meters along route # Maximum depth: 498.331369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.331369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.904984; longitude = -118.672756; captureRadius = 10; duration = 59; initialDepth = 456.625734; finalDepth = 458.331369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.331369 # Seafloor depth:-498.331369 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 59.325926 meters # Minimum depth: 496.625734 meters looking forward 0.000000 meters along route # Maximum depth: 496.625734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.625734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.905261; longitude = -118.672324; captureRadius = 10; duration = 59; initialDepth = 453.058066; finalDepth = 456.625734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:456.625734 # Seafloor depth:-496.625734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 59.325926 meters # Minimum depth: 493.058066 meters looking forward 0.000000 meters along route # Maximum depth: 493.058066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.058066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.905537; longitude = -118.671892; captureRadius = 10; duration = 59; initialDepth = 451.207774; finalDepth = 453.058066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.058066 # Seafloor depth:-493.058066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 59.325926 meters # Minimum depth: 491.207774 meters looking forward 0.000000 meters along route # Maximum depth: 491.207774 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 451.207774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.905814; longitude = -118.671460; captureRadius = 10; duration = 59; initialDepth = 453.394296; finalDepth = 451.207774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:451.207774 # Seafloor depth:-491.207774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 59.325926 meters # Minimum depth: 493.394296 meters looking forward 0.000000 meters along route # Maximum depth: 493.394296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.394296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.906090; longitude = -118.671028; captureRadius = 10; duration = 59; initialDepth = 454.944917; finalDepth = 453.394296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.394296 # Seafloor depth:-493.394296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 59.325926 meters # Minimum depth: 494.944917 meters looking forward 0.000000 meters along route # Maximum depth: 494.944917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.944917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.906367; longitude = -118.670595; captureRadius = 10; duration = 59; initialDepth = 452.925888; finalDepth = 454.944917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:454.944917 # Seafloor depth:-494.944917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 59.325926 meters # Minimum depth: 492.925888 meters looking forward 0.000000 meters along route # Maximum depth: 492.925888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 452.925888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.906643; longitude = -118.670163; captureRadius = 10; duration = 59; initialDepth = 450.809245; finalDepth = 452.925888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:452.925888 # Seafloor depth:-492.925888 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 112 # Segment length 59.325926 meters # Minimum depth: 490.809245 meters looking forward 0.000000 meters along route # Maximum depth: 490.809245 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 450.809245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.906966; longitude = -118.669659; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 448.220503; finalDepth = 450.809245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:450.809245 # Seafloor depth:-490.809245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 59.325926 meters # Minimum depth: 488.220503 meters looking forward 0.000000 meters along route # Maximum depth: 488.220503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 448.220503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.907126; longitude = -118.669407; captureRadius = 10; duration = 59; initialDepth = 446.835868; finalDepth = 448.220503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:448.220503 # Seafloor depth:-488.220503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 59.325926 meters # Minimum depth: 486.835868 meters looking forward 0.000000 meters along route # Maximum depth: 486.835868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 446.835868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.907400; longitude = -118.668975; captureRadius = 10; duration = 59; initialDepth = 444.370783; finalDepth = 446.835868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:446.835868 # Seafloor depth:-486.835868 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 59.325926 meters # Minimum depth: 484.370783 meters looking forward 0.000000 meters along route # Maximum depth: 484.370783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 444.370783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.907674; longitude = -118.668543; captureRadius = 10; duration = 59; initialDepth = 445.632145; finalDepth = 444.370783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:444.370783 # Seafloor depth:-484.370783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 59.325926 meters # Minimum depth: 485.632145 meters looking forward 0.000000 meters along route # Maximum depth: 485.632145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.632145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.907948; longitude = -118.668111; captureRadius = 10; duration = 59; initialDepth = 443.110020; finalDepth = 445.632145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:445.632145 # Seafloor depth:-485.632145 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 59.325926 meters # Minimum depth: 483.110020 meters looking forward 0.000000 meters along route # Maximum depth: 483.110020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.110020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.908222; longitude = -118.667679; captureRadius = 10; duration = 59; initialDepth = 442.979107; finalDepth = 443.110020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:443.11002 # Seafloor depth:-483.110020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 59.325926 meters # Minimum depth: 482.979107 meters looking forward 0.000000 meters along route # Maximum depth: 482.979107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.979107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.908496; longitude = -118.667247; captureRadius = 10; duration = 59; initialDepth = 440.371204; finalDepth = 442.979107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:442.979107 # Seafloor depth:-482.979107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 59.325926 meters # Minimum depth: 480.371204 meters looking forward 0.000000 meters along route # Maximum depth: 480.371204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.371204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.908771; longitude = -118.666815; captureRadius = 10; duration = 59; initialDepth = 442.313259; finalDepth = 440.371204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:440.371204 # Seafloor depth:-480.371204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 59.325926 meters # Minimum depth: 482.313259 meters looking forward 0.000000 meters along route # Maximum depth: 482.313259 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.313259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.909045; longitude = -118.666382; captureRadius = 10; duration = 59; initialDepth = 444.884972; finalDepth = 442.313259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:442.313259 # Seafloor depth:-482.313259 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 59.325926 meters # Minimum depth: 484.884972 meters looking forward 0.000000 meters along route # Maximum depth: 484.884972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 444.884972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.909319; longitude = -118.665950; captureRadius = 10; duration = 59; initialDepth = 439.230686; finalDepth = 444.884972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:444.884972 # Seafloor depth:-484.884972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 59.325926 meters # Minimum depth: 479.230686 meters looking forward 0.000000 meters along route # Maximum depth: 479.230686 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 439.230686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.909593; longitude = -118.665518; captureRadius = 10; duration = 59; initialDepth = 434.472059; finalDepth = 439.230686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:439.230686 # Seafloor depth:-479.230686 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 59.325926 meters # Minimum depth: 474.472059 meters looking forward 0.000000 meters along route # Maximum depth: 474.472059 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.472059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.909867; longitude = -118.665086; captureRadius = 10; duration = 59; initialDepth = 431.962390; finalDepth = 434.472059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:434.472059 # Seafloor depth:-474.472059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 59.325926 meters # Minimum depth: 471.962390 meters looking forward 0.000000 meters along route # Maximum depth: 471.962390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 431.962390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.910141; longitude = -118.664654; captureRadius = 10; duration = 59; initialDepth = 428.800328; finalDepth = 431.962390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:431.96239 # Seafloor depth:-471.962390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 59.325926 meters # Minimum depth: 468.800328 meters looking forward 0.000000 meters along route # Maximum depth: 468.800328 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 428.800328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.910415; longitude = -118.664222; captureRadius = 10; duration = 59; initialDepth = 425.665574; finalDepth = 428.800328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:428.800328 # Seafloor depth:-468.800328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 59.325926 meters # Minimum depth: 465.665574 meters looking forward 0.000000 meters along route # Maximum depth: 465.665574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 425.665574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.910690; longitude = -118.663790; captureRadius = 10; duration = 59; initialDepth = 423.224117; finalDepth = 425.665574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:425.665574 # Seafloor depth:-465.665574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 59.325926 meters # Minimum depth: 463.224117 meters looking forward 0.000000 meters along route # Maximum depth: 463.224117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 423.224117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.910964; longitude = -118.663357; captureRadius = 10; duration = 59; initialDepth = 421.647913; finalDepth = 423.224117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:423.224117 # Seafloor depth:-463.224117 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 59.325926 meters # Minimum depth: 461.647913 meters looking forward 0.000000 meters along route # Maximum depth: 461.647913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 421.647913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.911238; longitude = -118.662926; captureRadius = 10; duration = 59; initialDepth = 418.777594; finalDepth = 421.647913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:421.647913 # Seafloor depth:-461.647913 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 59.325926 meters # Minimum depth: 458.777594 meters looking forward 0.000000 meters along route # Maximum depth: 458.777594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.777594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.911512; longitude = -118.662493; captureRadius = 10; duration = 59; initialDepth = 418.407875; finalDepth = 418.777594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:418.777594 # Seafloor depth:-458.777594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 59.325926 meters # Minimum depth: 458.407875 meters looking forward 0.000000 meters along route # Maximum depth: 458.407875 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.407875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.911786; longitude = -118.662061; captureRadius = 10; duration = 59; initialDepth = 418.419022; finalDepth = 418.407875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:418.407875 # Seafloor depth:-458.407875 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 111 # Segment length 59.325926 meters # Minimum depth: 458.419022 meters looking forward 0.000000 meters along route # Maximum depth: 458.419022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.419022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.912106; longitude = -118.661557; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 419.508404; finalDepth = 418.419022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:418.419022 # Seafloor depth:-458.419022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 59.325926 meters # Minimum depth: 459.508404 meters looking forward 0.000000 meters along route # Maximum depth: 459.508404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.508404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.912243; longitude = -118.661305; captureRadius = 10; duration = 59; initialDepth = 419.030048; finalDepth = 419.508404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:419.508404 # Seafloor depth:-459.508404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 59.325926 meters # Minimum depth: 459.030048 meters looking forward 0.000000 meters along route # Maximum depth: 459.030048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.030048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.912497; longitude = -118.660839; captureRadius = 10; duration = 59; initialDepth = 417.605848; finalDepth = 419.030048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:419.030048 # Seafloor depth:-459.030048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 59.325926 meters # Minimum depth: 457.605848 meters looking forward 0.000000 meters along route # Maximum depth: 457.605848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.605848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.912773; longitude = -118.660333; captureRadius = 10; duration = 59; initialDepth = 417.179026; finalDepth = 417.605848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:417.605848 # Seafloor depth:-457.605848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 59.325926 meters # Minimum depth: 457.179026 meters looking forward 0.000000 meters along route # Maximum depth: 457.179026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.179026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.913038; longitude = -118.659847; captureRadius = 10; duration = 59; initialDepth = 419.189224; finalDepth = 417.179026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:417.179026 # Seafloor depth:-457.179026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 59.325926 meters # Minimum depth: 459.189224 meters looking forward 0.000000 meters along route # Maximum depth: 459.189224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.189224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.913309; longitude = -118.659350; captureRadius = 10; duration = 59; initialDepth = 418.019305; finalDepth = 419.189224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:419.189224 # Seafloor depth:-459.189224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 59.325926 meters # Minimum depth: 458.019305 meters looking forward 0.000000 meters along route # Maximum depth: 458.019305 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.019305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.913597; longitude = -118.658821; captureRadius = 10; duration = 59; initialDepth = 402.291328; finalDepth = 418.019305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:418.019305 # Seafloor depth:-458.019305 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 59.325926 meters # Minimum depth: 442.291328 meters looking forward 0.000000 meters along route # Maximum depth: 442.291328 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 402.291328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.913850; longitude = -118.658357; captureRadius = 10; duration = 59; initialDepth = 402.305575; finalDepth = 402.291328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:402.291328 # Seafloor depth:-442.291328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 59.325926 meters # Minimum depth: 442.305575 meters looking forward 0.000000 meters along route # Maximum depth: 442.305575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 402.305575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.914127; longitude = -118.657848; captureRadius = 10; duration = 59; initialDepth = 406.060060; finalDepth = 402.305575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:402.305575 # Seafloor depth:-442.305575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 59.325926 meters # Minimum depth: 446.060060 meters looking forward 0.000000 meters along route # Maximum depth: 446.060060 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 406.060060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.914391; longitude = -118.657365; captureRadius = 10; duration = 59; initialDepth = 405.127798; finalDepth = 406.060060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:406.06006 # Seafloor depth:-446.060060 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 59.325926 meters # Minimum depth: 445.127798 meters looking forward 0.000000 meters along route # Maximum depth: 445.127798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.127798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.914661; longitude = -118.656868; captureRadius = 10; duration = 59; initialDepth = 404.182321; finalDepth = 405.127798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:405.127798 # Seafloor depth:-445.127798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 59.325926 meters # Minimum depth: 444.182321 meters looking forward 0.000000 meters along route # Maximum depth: 444.182321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.182321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.914951; longitude = -118.656336; captureRadius = 10; duration = 59; initialDepth = 405.726885; finalDepth = 404.182321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:404.182321 # Seafloor depth:-444.182321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 59.325926 meters # Minimum depth: 445.726885 meters looking forward 0.000000 meters along route # Maximum depth: 445.726885 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.726885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.915202; longitude = -118.655875; captureRadius = 10; duration = 59; initialDepth = 413.482115; finalDepth = 405.726885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:405.726885 # Seafloor depth:-445.726885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 59.325926 meters # Minimum depth: 453.482115 meters looking forward 0.000000 meters along route # Maximum depth: 453.482115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 413.482115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.915481; longitude = -118.655364; captureRadius = 10; duration = 59; initialDepth = 412.530176; finalDepth = 413.482115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:413.482115 # Seafloor depth:-453.482115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 59.325926 meters # Minimum depth: 452.530176 meters looking forward 0.000000 meters along route # Maximum depth: 452.530176 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 412.530176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.915776; longitude = -118.654824; captureRadius = 10; duration = 59; initialDepth = 421.480765; finalDepth = 412.530176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:412.530176 # Seafloor depth:-452.530176 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 59.325926 meters # Minimum depth: 461.480765 meters looking forward 0.000000 meters along route # Maximum depth: 461.480765 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 421.480765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.916070; longitude = -118.654283; captureRadius = 10; duration = 59; initialDepth = 424.050224; finalDepth = 421.480765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:421.480765 # Seafloor depth:-461.480765 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 110 # Segment length 59.325926 meters # Minimum depth: 464.050224 meters looking forward 0.000000 meters along route # Maximum depth: 464.050224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 424.050224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.916345; longitude = -118.653779; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 419.543083; finalDepth = 424.050224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:424.050224 # Seafloor depth:-464.050224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 59.325926 meters # Minimum depth: 459.543083 meters looking forward 0.000000 meters along route # Maximum depth: 459.543083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.543083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.916415; longitude = -118.653635; captureRadius = 10; duration = 59; initialDepth = 426.422142; finalDepth = 419.543083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:419.543083 # Seafloor depth:-459.543083 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 59.325926 meters # Minimum depth: 466.422142 meters looking forward 0.000000 meters along route # Maximum depth: 466.422142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 426.422142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.916677; longitude = -118.653095; captureRadius = 10; duration = 59; initialDepth = 422.862703; finalDepth = 426.422142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:426.422142 # Seafloor depth:-466.422142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 59.325926 meters # Minimum depth: 462.862703 meters looking forward 0.000000 meters along route # Maximum depth: 462.862703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 422.862703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.916916; longitude = -118.652604; captureRadius = 10; duration = 59; initialDepth = 422.467819; finalDepth = 422.862703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:422.862703 # Seafloor depth:-462.862703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 59.325926 meters # Minimum depth: 462.467819 meters looking forward 0.000000 meters along route # Maximum depth: 462.467819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 422.467819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.917150; longitude = -118.652123; captureRadius = 10; duration = 59; initialDepth = 420.425328; finalDepth = 422.467819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:422.467819 # Seafloor depth:-462.467819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 59.325926 meters # Minimum depth: 460.425328 meters looking forward 0.000000 meters along route # Maximum depth: 460.425328 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 420.425328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.917412; longitude = -118.651583; captureRadius = 10; duration = 59; initialDepth = 418.496036; finalDepth = 420.425328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:420.425328 # Seafloor depth:-460.425328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 59.325926 meters # Minimum depth: 458.496036 meters looking forward 0.000000 meters along route # Maximum depth: 458.496036 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.496036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.917675; longitude = -118.651043; captureRadius = 10; duration = 59; initialDepth = 407.055898; finalDepth = 418.496036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:418.496036 # Seafloor depth:-458.496036 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 59.325926 meters # Minimum depth: 447.055898 meters looking forward 0.000000 meters along route # Maximum depth: 447.055898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.055898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.917938; longitude = -118.650503; captureRadius = 10; duration = 59; initialDepth = 403.464799; finalDepth = 407.055898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:407.055898 # Seafloor depth:-447.055898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 59.325926 meters # Minimum depth: 443.464799 meters looking forward 0.000000 meters along route # Maximum depth: 443.464799 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 403.464799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.918178; longitude = -118.650007; captureRadius = 10; duration = 59; initialDepth = 401.057841; finalDepth = 403.464799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:403.464799 # Seafloor depth:-443.464799 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 59.325926 meters # Minimum depth: 441.057841 meters looking forward 0.000000 meters along route # Maximum depth: 441.057841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.057841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.918410; longitude = -118.649530; captureRadius = 10; duration = 59; initialDepth = 395.737218; finalDepth = 401.057841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:401.057841 # Seafloor depth:-441.057841 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 59.325926 meters # Minimum depth: 435.737218 meters looking forward 0.000000 meters along route # Maximum depth: 435.737218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.737218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.918673; longitude = -118.648990; captureRadius = 10; duration = 59; initialDepth = 388.520887; finalDepth = 395.737218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:395.737218 # Seafloor depth:-435.737218 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 59.325926 meters # Minimum depth: 428.520887 meters looking forward 0.000000 meters along route # Maximum depth: 428.520887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.520887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.918935; longitude = -118.648450; captureRadius = 10; duration = 59; initialDepth = 385.105248; finalDepth = 388.520887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:388.520887 # Seafloor depth:-428.520887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 59.325926 meters # Minimum depth: 425.105248 meters looking forward 0.000000 meters along route # Maximum depth: 425.105248 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.105248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.919198; longitude = -118.647910; captureRadius = 10; duration = 59; initialDepth = 383.060200; finalDepth = 385.105248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:385.105248 # Seafloor depth:-425.105248 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 59.325926 meters # Minimum depth: 423.060200 meters looking forward 0.000000 meters along route # Maximum depth: 423.060200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.060200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.919460; longitude = -118.647370; captureRadius = 10; duration = 59; initialDepth = 379.587828; finalDepth = 383.060200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:383.0602 # Seafloor depth:-423.060200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 59.325926 meters # Minimum depth: 419.587828 meters looking forward 0.000000 meters along route # Maximum depth: 419.587828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.587828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.919723; longitude = -118.646830; captureRadius = 10; duration = 59; initialDepth = 377.608685; finalDepth = 379.587828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:379.587828 # Seafloor depth:-419.587828 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 59.325926 meters # Minimum depth: 417.608685 meters looking forward 0.000000 meters along route # Maximum depth: 417.608685 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.608685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.919985; longitude = -118.646289; captureRadius = 10; duration = 59; initialDepth = 374.070197; finalDepth = 377.608685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:377.608685 # Seafloor depth:-417.608685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 59.325926 meters # Minimum depth: 414.070197 meters looking forward 0.000000 meters along route # Maximum depth: 414.070197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.070197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.920253; longitude = -118.645740; captureRadius = 10; duration = 59; initialDepth = 373.627548; finalDepth = 374.070197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:374.070197 # Seafloor depth:-414.070197 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 109 # Segment length 59.325926 meters # Minimum depth: 413.627548 meters looking forward 0.000000 meters along route # Maximum depth: 413.627548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.627548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.920493; longitude = -118.645245; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 377.382244; finalDepth = 373.627548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:373.627548 # Seafloor depth:-413.627548 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 59.325926 meters # Minimum depth: 417.382244 meters looking forward 0.000000 meters along route # Maximum depth: 417.382244 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.382244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.920704; longitude = -118.644736; captureRadius = 10; duration = 59; initialDepth = 377.059284; finalDepth = 377.382244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:377.382244 # Seafloor depth:-417.382244 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 59.325926 meters # Minimum depth: 417.059284 meters looking forward 0.000000 meters along route # Maximum depth: 417.059284 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.059284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.920910; longitude = -118.644237; captureRadius = 10; duration = 59; initialDepth = 377.757806; finalDepth = 377.059284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:377.059284 # Seafloor depth:-417.059284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 59.325926 meters # Minimum depth: 417.757806 meters looking forward 0.000000 meters along route # Maximum depth: 417.757806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.757806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.921154; longitude = -118.643646; captureRadius = 10; duration = 59; initialDepth = 374.990325; finalDepth = 377.757806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:377.757806 # Seafloor depth:-417.757806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 59.325926 meters # Minimum depth: 414.990325 meters looking forward 0.000000 meters along route # Maximum depth: 414.990325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.990325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.921357; longitude = -118.643157; captureRadius = 10; duration = 59; initialDepth = 371.423593; finalDepth = 374.990325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:374.990325 # Seafloor depth:-414.990325 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 59.325926 meters # Minimum depth: 411.423593 meters looking forward 0.000000 meters along route # Maximum depth: 411.423593 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.423593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.921580; longitude = -118.642617; captureRadius = 10; duration = 59; initialDepth = 373.674770; finalDepth = 371.423593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:371.423593 # Seafloor depth:-411.423593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 59.325926 meters # Minimum depth: 413.674770 meters looking forward 0.000000 meters along route # Maximum depth: 413.674770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.674770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.921803; longitude = -118.642076; captureRadius = 10; duration = 59; initialDepth = 374.696030; finalDepth = 373.674770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:373.67477 # Seafloor depth:-413.674770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 59.325926 meters # Minimum depth: 414.696030 meters looking forward 0.000000 meters along route # Maximum depth: 414.696030 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.696030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.922027; longitude = -118.641536; captureRadius = 10; duration = 59; initialDepth = 375.054148; finalDepth = 374.696030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:374.69603 # Seafloor depth:-414.696030 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 59.325926 meters # Minimum depth: 415.054148 meters looking forward 0.000000 meters along route # Maximum depth: 415.054148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.054148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.922250; longitude = -118.640996; captureRadius = 10; duration = 59; initialDepth = 373.578990; finalDepth = 375.054148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:375.054148 # Seafloor depth:-415.054148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 59.325926 meters # Minimum depth: 413.578990 meters looking forward 0.000000 meters along route # Maximum depth: 413.578990 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.578990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.922474; longitude = -118.640456; captureRadius = 10; duration = 59; initialDepth = 379.550101; finalDepth = 373.578990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:373.57899 # Seafloor depth:-413.578990 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 59.325926 meters # Minimum depth: 419.550101 meters looking forward 0.000000 meters along route # Maximum depth: 419.550101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.550101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.922697; longitude = -118.639916; captureRadius = 10; duration = 59; initialDepth = 372.879855; finalDepth = 379.550101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:379.550101 # Seafloor depth:-419.550101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 59.325926 meters # Minimum depth: 412.879855 meters looking forward 0.000000 meters along route # Maximum depth: 412.879855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.879855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.922920; longitude = -118.639376; captureRadius = 10; duration = 59; initialDepth = 371.246583; finalDepth = 372.879855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:372.879855 # Seafloor depth:-412.879855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 59.325926 meters # Minimum depth: 411.246583 meters looking forward 0.000000 meters along route # Maximum depth: 411.246583 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.246583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.923144; longitude = -118.638836; captureRadius = 10; duration = 59; initialDepth = 364.963459; finalDepth = 371.246583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:371.246583 # Seafloor depth:-411.246583 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 59.325926 meters # Minimum depth: 404.963459 meters looking forward 0.000000 meters along route # Maximum depth: 404.963459 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 364.963459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.923367; longitude = -118.638296; captureRadius = 10; duration = 59; initialDepth = 357.567963; finalDepth = 364.963459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:364.963459 # Seafloor depth:-404.963459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 59.325926 meters # Minimum depth: 397.567963 meters looking forward 0.000000 meters along route # Maximum depth: 397.567963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 357.567963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.923591; longitude = -118.637755; captureRadius = 10; duration = 59; initialDepth = 357.430540; finalDepth = 357.567963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:357.567963 # Seafloor depth:-397.567963 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 59.325926 meters # Minimum depth: 397.430540 meters looking forward 0.000000 meters along route # Maximum depth: 397.430540 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 357.430540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.923814; longitude = -118.637215; captureRadius = 10; duration = 59; initialDepth = 356.736948; finalDepth = 357.430540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:357.43054 # Seafloor depth:-397.430540 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 59.325926 meters # Minimum depth: 396.736948 meters looking forward 0.000000 meters along route # Maximum depth: 396.736948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 356.736948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.924040; longitude = -118.636668; captureRadius = 10; duration = 59; initialDepth = 355.926673; finalDepth = 356.736948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:356.736948 # Seafloor depth:-396.736948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 59.325926 meters # Minimum depth: 395.926673 meters looking forward 0.000000 meters along route # Maximum depth: 395.926673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 355.926673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.924261; longitude = -118.636135; captureRadius = 10; duration = 59; initialDepth = 357.284742; finalDepth = 355.926673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:355.926673 # Seafloor depth:-395.926673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 59.325926 meters # Minimum depth: 397.284742 meters looking forward 0.000000 meters along route # Maximum depth: 397.284742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 357.284742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.924491; longitude = -118.635578; captureRadius = 10; duration = 59; initialDepth = 358.325482; finalDepth = 357.284742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:357.284742 # Seafloor depth:-397.284742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 59.325926 meters # Minimum depth: 398.325482 meters looking forward 0.000000 meters along route # Maximum depth: 398.325482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 358.325482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.924708; longitude = -118.635055; captureRadius = 10; duration = 59; initialDepth = 362.982957; finalDepth = 358.325482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:358.325482 # Seafloor depth:-398.325482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 59.325926 meters # Minimum depth: 402.982957 meters looking forward 0.000000 meters along route # Maximum depth: 402.982957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 362.982957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.924942; longitude = -118.634488; captureRadius = 10; duration = 59; initialDepth = 366.558730; finalDepth = 362.982957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:362.982957 # Seafloor depth:-402.982957 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 59.325926 meters # Minimum depth: 406.558730 meters looking forward 0.000000 meters along route # Maximum depth: 406.558730 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 366.558730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.925154; longitude = -118.633974; captureRadius = 10; duration = 59; initialDepth = 369.388893; finalDepth = 366.558730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:366.55873 # Seafloor depth:-406.558730 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 108 # Segment length 59.325926 meters # Minimum depth: 409.388893 meters looking forward 0.000000 meters along route # Maximum depth: 409.388893 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.388893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.925363; longitude = -118.633470; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 371.586572; finalDepth = 369.388893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:369.388893 # Seafloor depth:-409.388893 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 59.325926 meters # Minimum depth: 411.586572 meters looking forward 0.000000 meters along route # Maximum depth: 411.586572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.586572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.925471; longitude = -118.633110; captureRadius = 10; duration = 59; initialDepth = 371.384374; finalDepth = 371.586572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:371.586572 # Seafloor depth:-411.586572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 59.325926 meters # Minimum depth: 411.384374 meters looking forward 0.000000 meters along route # Maximum depth: 411.384374 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.384374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.925633; longitude = -118.632570; captureRadius = 10; duration = 59; initialDepth = 369.160119; finalDepth = 371.384374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:371.384374 # Seafloor depth:-411.384374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 59.325926 meters # Minimum depth: 409.160119 meters looking forward 0.000000 meters along route # Maximum depth: 409.160119 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 369.160119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.925794; longitude = -118.632030; captureRadius = 10; duration = 59; initialDepth = 367.639575; finalDepth = 369.160119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:369.160119 # Seafloor depth:-409.160119 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 59.325926 meters # Minimum depth: 407.639575 meters looking forward 0.000000 meters along route # Maximum depth: 407.639575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 367.639575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.925956; longitude = -118.631490; captureRadius = 10; duration = 59; initialDepth = 364.634854; finalDepth = 367.639575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:367.639575 # Seafloor depth:-407.639575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 59.325926 meters # Minimum depth: 404.634854 meters looking forward 0.000000 meters along route # Maximum depth: 404.634854 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 364.634854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.926118; longitude = -118.630950; captureRadius = 10; duration = 59; initialDepth = 368.748928; finalDepth = 364.634854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:364.634854 # Seafloor depth:-404.634854 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 59.325926 meters # Minimum depth: 408.748928 meters looking forward 0.000000 meters along route # Maximum depth: 408.748928 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.748928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.926280; longitude = -118.630410; captureRadius = 10; duration = 59; initialDepth = 365.877645; finalDepth = 368.748928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:368.748928 # Seafloor depth:-408.748928 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 59.325926 meters # Minimum depth: 405.877645 meters looking forward 0.000000 meters along route # Maximum depth: 405.877645 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 365.877645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.926442; longitude = -118.629869; captureRadius = 10; duration = 59; initialDepth = 363.823502; finalDepth = 365.877645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:365.877645 # Seafloor depth:-405.877645 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 107 # Segment length 59.325926 meters # Minimum depth: 403.823502 meters looking forward 0.000000 meters along route # Maximum depth: 403.823502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 363.823502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.926625; longitude = -118.629257; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 367.304036; finalDepth = 363.823502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:363.823502 # Seafloor depth:-403.823502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 59.325926 meters # Minimum depth: 407.304036 meters looking forward 0.000000 meters along route # Maximum depth: 407.304036 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 367.304036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.926641; longitude = -118.629113; captureRadius = 10; duration = 59; initialDepth = 367.468741; finalDepth = 367.304036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:367.304036 # Seafloor depth:-407.304036 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 59.325926 meters # Minimum depth: 407.468741 meters looking forward 0.000000 meters along route # Maximum depth: 407.468741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 367.468741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.926703; longitude = -118.628573; captureRadius = 10; duration = 59; initialDepth = 364.533389; finalDepth = 367.468741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:367.468741 # Seafloor depth:-407.468741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 59.325926 meters # Minimum depth: 404.533389 meters looking forward 0.000000 meters along route # Maximum depth: 404.533389 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 364.533389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.926764; longitude = -118.628033; captureRadius = 10; duration = 59; initialDepth = 364.222254; finalDepth = 364.533389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:364.533389 # Seafloor depth:-404.533389 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 59.325926 meters # Minimum depth: 404.222254 meters looking forward 0.000000 meters along route # Maximum depth: 404.222254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 364.222254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.926825; longitude = -118.627493; captureRadius = 10; duration = 59; initialDepth = 361.568946; finalDepth = 364.222254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:364.222254 # Seafloor depth:-404.222254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 59.325926 meters # Minimum depth: 401.568946 meters looking forward 0.000000 meters along route # Maximum depth: 401.568946 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 361.568946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.926887; longitude = -118.626953; captureRadius = 10; duration = 59; initialDepth = 360.588727; finalDepth = 361.568946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:361.568946 # Seafloor depth:-401.568946 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 59.325926 meters # Minimum depth: 400.588727 meters looking forward 0.000000 meters along route # Maximum depth: 400.588727 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 360.588727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.926948; longitude = -118.626413; captureRadius = 10; duration = 59; initialDepth = 358.371481; finalDepth = 360.588727; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:360.588727 # Seafloor depth:-400.588727 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 59.325926 meters # Minimum depth: 398.371481 meters looking forward 0.000000 meters along route # Maximum depth: 398.371481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 358.371481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.927009; longitude = -118.625872; captureRadius = 10; duration = 59; initialDepth = 355.826496; finalDepth = 358.371481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:358.371481 # Seafloor depth:-398.371481 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 59.325926 meters # Minimum depth: 395.826496 meters looking forward 0.000000 meters along route # Maximum depth: 395.826496 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 355.826496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.927071; longitude = -118.625332; captureRadius = 10; duration = 59; initialDepth = 352.973701; finalDepth = 355.826496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:355.826496 # Seafloor depth:-395.826496 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 106 # Segment length 59.325926 meters # Minimum depth: 392.973701 meters looking forward 0.000000 meters along route # Maximum depth: 392.973701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 352.973701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.927136; longitude = -118.624756; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 351.738050; finalDepth = 352.973701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:352.973701 # Seafloor depth:-392.973701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 59.325926 meters # Minimum depth: 391.738050 meters looking forward 0.000000 meters along route # Maximum depth: 391.738050 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 351.738050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.927137; longitude = -118.624684; captureRadius = 10; duration = 59; initialDepth = 349.348112; finalDepth = 351.738050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:351.73805 # Seafloor depth:-391.738050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 59.325926 meters # Minimum depth: 389.348112 meters looking forward 0.000000 meters along route # Maximum depth: 389.348112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 349.348112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.927150; longitude = -118.624036; captureRadius = 10; duration = 59; initialDepth = 348.262845; finalDepth = 349.348112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:349.348112 # Seafloor depth:-389.348112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 59.325926 meters # Minimum depth: 388.262845 meters looking forward 0.000000 meters along route # Maximum depth: 388.262845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 348.262845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.927163; longitude = -118.623388; captureRadius = 10; duration = 59; initialDepth = 345.671258; finalDepth = 348.262845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:348.262845 # Seafloor depth:-388.262845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 59.325926 meters # Minimum depth: 385.671258 meters looking forward 0.000000 meters along route # Maximum depth: 385.671258 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 345.671258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.927176; longitude = -118.622740; captureRadius = 10; duration = 59; initialDepth = 345.028143; finalDepth = 345.671258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:345.671258 # Seafloor depth:-385.671258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 59.325926 meters # Minimum depth: 385.028143 meters looking forward 0.000000 meters along route # Maximum depth: 385.028143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 345.028143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.927189; longitude = -118.622092; captureRadius = 10; duration = 59; initialDepth = 343.825242; finalDepth = 345.028143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:345.028143 # Seafloor depth:-385.028143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 59.325926 meters # Minimum depth: 383.825242 meters looking forward 0.000000 meters along route # Maximum depth: 383.825242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 343.825242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.927202; longitude = -118.621443; captureRadius = 10; duration = 59; initialDepth = 339.222606; finalDepth = 343.825242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:343.825242 # Seafloor depth:-383.825242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 59.325926 meters # Minimum depth: 379.222606 meters looking forward 0.000000 meters along route # Maximum depth: 379.222606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 339.222606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.927215; longitude = -118.620795; captureRadius = 10; duration = 59; initialDepth = 340.884171; finalDepth = 339.222606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:339.222606 # Seafloor depth:-379.222606 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 105 # Segment length 59.325926 meters # Minimum depth: 380.884171 meters looking forward 0.000000 meters along route # Maximum depth: 380.884171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 340.884171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.927227; longitude = -118.620219; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 336.684102; finalDepth = 340.884171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:340.884171 # Seafloor depth:-380.884171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 59.325926 meters # Minimum depth: 376.684102 meters looking forward 0.000000 meters along route # Maximum depth: 376.684102 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 336.684102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.927221; longitude = -118.620147; captureRadius = 10; duration = 59; initialDepth = 329.141752; finalDepth = 336.684102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:336.684102 # Seafloor depth:-376.684102 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 59.325926 meters # Minimum depth: 369.141752 meters looking forward 0.000000 meters along route # Maximum depth: 369.141752 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.141752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.927175; longitude = -118.619607; captureRadius = 10; duration = 59; initialDepth = 326.449012; finalDepth = 329.141752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:329.141752 # Seafloor depth:-369.141752 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 59.325926 meters # Minimum depth: 366.449012 meters looking forward 0.000000 meters along route # Maximum depth: 366.449012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 326.449012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.927129; longitude = -118.619067; captureRadius = 10; duration = 59; initialDepth = 323.969052; finalDepth = 326.449012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:326.449012 # Seafloor depth:-366.449012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 59.325926 meters # Minimum depth: 363.969052 meters looking forward 0.000000 meters along route # Maximum depth: 363.969052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 323.969052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.927084; longitude = -118.618527; captureRadius = 10; duration = 59; initialDepth = 323.289801; finalDepth = 323.969052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:323.969052 # Seafloor depth:-363.969052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 59.325926 meters # Minimum depth: 363.289801 meters looking forward 0.000000 meters along route # Maximum depth: 363.289801 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 323.289801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.927038; longitude = -118.617986; captureRadius = 10; duration = 59; initialDepth = 322.767281; finalDepth = 323.289801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:323.289801 # Seafloor depth:-363.289801 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 104 # Segment length 59.325926 meters # Minimum depth: 362.767281 meters looking forward 0.000000 meters along route # Maximum depth: 362.767281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 322.767281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.926986; longitude = -118.617374; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 320.193482; finalDepth = 322.767281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:322.767281 # Seafloor depth:-362.767281 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 59.325926 meters # Minimum depth: 360.193482 meters looking forward 0.000000 meters along route # Maximum depth: 360.193482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 320.193482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.926835; longitude = -118.616906; captureRadius = 10; duration = 59; initialDepth = 318.669938; finalDepth = 320.193482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:320.193482 # Seafloor depth:-360.193482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 59.325926 meters # Minimum depth: 358.669938 meters looking forward 0.000000 meters along route # Maximum depth: 358.669938 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 318.669938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.926655; longitude = -118.616348; captureRadius = 10; duration = 59; initialDepth = 317.618512; finalDepth = 318.669938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:318.669938 # Seafloor depth:-358.669938 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 59.325926 meters # Minimum depth: 357.618512 meters looking forward 0.000000 meters along route # Maximum depth: 357.618512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 317.618512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.926487; longitude = -118.615826; captureRadius = 10; duration = 59; initialDepth = 315.323719; finalDepth = 317.618512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:317.618512 # Seafloor depth:-357.618512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 59.325926 meters # Minimum depth: 355.323719 meters looking forward 0.000000 meters along route # Maximum depth: 355.323719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 315.323719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.926313; longitude = -118.615286; captureRadius = 10; duration = 59; initialDepth = 313.265332; finalDepth = 315.323719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:315.323719 # Seafloor depth:-355.323719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 59.325926 meters # Minimum depth: 353.265332 meters looking forward 0.000000 meters along route # Maximum depth: 353.265332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 313.265332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.926139; longitude = -118.614746; captureRadius = 10; duration = 59; initialDepth = 309.111751; finalDepth = 313.265332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:313.265332 # Seafloor depth:-353.265332 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 59.325926 meters # Minimum depth: 349.111751 meters looking forward 0.000000 meters along route # Maximum depth: 349.111751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 309.111751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.925965; longitude = -118.614206; captureRadius = 10; duration = 59; initialDepth = 308.588867; finalDepth = 309.111751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:309.111751 # Seafloor depth:-349.111751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 59.325926 meters # Minimum depth: 348.588867 meters looking forward 0.000000 meters along route # Maximum depth: 348.588867 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 308.588867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.925791; longitude = -118.613665; captureRadius = 10; duration = 59; initialDepth = 305.697771; finalDepth = 308.588867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:308.588867 # Seafloor depth:-348.588867 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 59.325926 meters # Minimum depth: 345.697771 meters looking forward 0.000000 meters along route # Maximum depth: 345.697771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 305.697771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.925617; longitude = -118.613125; captureRadius = 10; duration = 59; initialDepth = 304.148706; finalDepth = 305.697771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:305.697771 # Seafloor depth:-345.697771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 59.325926 meters # Minimum depth: 344.148706 meters looking forward 0.000000 meters along route # Maximum depth: 344.148706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 304.148706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.925443; longitude = -118.612585; captureRadius = 10; duration = 59; initialDepth = 301.022433; finalDepth = 304.148706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:304.148706 # Seafloor depth:-344.148706 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 59.325926 meters # Minimum depth: 341.022433 meters looking forward 0.000000 meters along route # Maximum depth: 341.022433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 301.022433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.925269; longitude = -118.612045; captureRadius = 10; duration = 59; initialDepth = 301.406188; finalDepth = 301.022433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:301.022433 # Seafloor depth:-341.022433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 59.325926 meters # Minimum depth: 341.406188 meters looking forward 0.000000 meters along route # Maximum depth: 341.406188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 301.406188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.925095; longitude = -118.611505; captureRadius = 10; duration = 59; initialDepth = 300.637144; finalDepth = 301.406188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:301.406188 # Seafloor depth:-341.406188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 59.325926 meters # Minimum depth: 340.637144 meters looking forward 0.000000 meters along route # Maximum depth: 340.637144 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.637144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.924920; longitude = -118.610965; captureRadius = 10; duration = 59; initialDepth = 299.506885; finalDepth = 300.637144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:300.637144 # Seafloor depth:-340.637144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 59.325926 meters # Minimum depth: 339.506885 meters looking forward 0.000000 meters along route # Maximum depth: 339.506885 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 299.506885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.924746; longitude = -118.610425; captureRadius = 10; duration = 59; initialDepth = 299.482138; finalDepth = 299.506885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:299.506885 # Seafloor depth:-339.506885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 59.325926 meters # Minimum depth: 339.482138 meters looking forward 0.000000 meters along route # Maximum depth: 339.482138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 299.482138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.924572; longitude = -118.609884; captureRadius = 10; duration = 59; initialDepth = 299.396287; finalDepth = 299.482138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:299.482138 # Seafloor depth:-339.482138 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 59.325926 meters # Minimum depth: 339.396287 meters looking forward 0.000000 meters along route # Maximum depth: 339.396287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 299.396287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.924398; longitude = -118.609344; captureRadius = 10; duration = 59; initialDepth = 300.636694; finalDepth = 299.396287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:299.396287 # Seafloor depth:-339.396287 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 59.325926 meters # Minimum depth: 340.636694 meters looking forward 0.000000 meters along route # Maximum depth: 340.636694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.636694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.924221; longitude = -118.608793; captureRadius = 10; duration = 59; initialDepth = 299.023904; finalDepth = 300.636694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:300.636694 # Seafloor depth:-340.636694 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 59.325926 meters # Minimum depth: 339.023904 meters looking forward 0.000000 meters along route # Maximum depth: 339.023904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 299.023904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.924040; longitude = -118.608233; captureRadius = 10; duration = 59; initialDepth = 298.098889; finalDepth = 299.023904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:299.023904 # Seafloor depth:-339.023904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 59.325926 meters # Minimum depth: 338.098889 meters looking forward 0.000000 meters along route # Maximum depth: 338.098889 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 298.098889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.923876; longitude = -118.607724; captureRadius = 10; duration = 59; initialDepth = 298.414692; finalDepth = 298.098889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:298.098889 # Seafloor depth:-338.098889 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 59.325926 meters # Minimum depth: 338.414692 meters looking forward 0.000000 meters along route # Maximum depth: 338.414692 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 298.414692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.923702; longitude = -118.607184; captureRadius = 10; duration = 59; initialDepth = 299.665249; finalDepth = 298.414692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:298.414692 # Seafloor depth:-338.414692 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 59.325926 meters # Minimum depth: 339.665249 meters looking forward 0.000000 meters along route # Maximum depth: 339.665249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 299.665249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.923528; longitude = -118.606644; captureRadius = 10; duration = 59; initialDepth = 297.016112; finalDepth = 299.665249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:299.665249 # Seafloor depth:-339.665249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 59.325926 meters # Minimum depth: 337.016112 meters looking forward 0.000000 meters along route # Maximum depth: 337.016112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 297.016112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.923354; longitude = -118.606104; captureRadius = 10; duration = 59; initialDepth = 294.867188; finalDepth = 297.016112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:297.016112 # Seafloor depth:-337.016112 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 103 # Segment length 59.325926 meters # Minimum depth: 334.867188 meters looking forward 0.000000 meters along route # Maximum depth: 334.867188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 294.867188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.923168; longitude = -118.605527; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 290.622914; finalDepth = 294.867188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:294.867188 # Seafloor depth:-334.867188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 59.325926 meters # Minimum depth: 330.622914 meters looking forward 0.000000 meters along route # Maximum depth: 330.622914 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 290.622914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.923096; longitude = -118.605239; captureRadius = 10; duration = 59; initialDepth = 290.709630; finalDepth = 290.622914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:290.622914 # Seafloor depth:-330.622914 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 59.325926 meters # Minimum depth: 330.709630 meters looking forward 0.000000 meters along route # Maximum depth: 330.709630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 290.709630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.922958; longitude = -118.604693; captureRadius = 10; duration = 59; initialDepth = 289.127810; finalDepth = 290.709630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:290.70963 # Seafloor depth:-330.709630 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 59.325926 meters # Minimum depth: 329.127810 meters looking forward 0.000000 meters along route # Maximum depth: 329.127810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 289.127810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.922823; longitude = -118.604159; captureRadius = 10; duration = 59; initialDepth = 290.907268; finalDepth = 289.127810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:289.12781 # Seafloor depth:-329.127810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 59.325926 meters # Minimum depth: 330.907268 meters looking forward 0.000000 meters along route # Maximum depth: 330.907268 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 290.907268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.922687; longitude = -118.603619; captureRadius = 10; duration = 59; initialDepth = 287.634478; finalDepth = 290.907268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:290.907268 # Seafloor depth:-330.907268 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 59.325926 meters # Minimum depth: 327.634478 meters looking forward 0.000000 meters along route # Maximum depth: 327.634478 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 287.634478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.922551; longitude = -118.603079; captureRadius = 10; duration = 59; initialDepth = 291.447937; finalDepth = 287.634478; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:287.634478 # Seafloor depth:-327.634478 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 59.325926 meters # Minimum depth: 331.447937 meters looking forward 0.000000 meters along route # Maximum depth: 331.447937 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 291.447937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.922415; longitude = -118.602539; captureRadius = 10; duration = 59; initialDepth = 288.741798; finalDepth = 291.447937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:291.447937 # Seafloor depth:-331.447937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 59.325926 meters # Minimum depth: 328.741798 meters looking forward 0.000000 meters along route # Maximum depth: 328.741798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 288.741798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.922279; longitude = -118.601999; captureRadius = 10; duration = 59; initialDepth = 288.031591; finalDepth = 288.741798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:288.741798 # Seafloor depth:-328.741798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 59.325926 meters # Minimum depth: 328.031591 meters looking forward 0.000000 meters along route # Maximum depth: 328.031591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 288.031591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.922143; longitude = -118.601458; captureRadius = 10; duration = 59; initialDepth = 286.785202; finalDepth = 288.031591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:288.031591 # Seafloor depth:-328.031591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 59.325926 meters # Minimum depth: 326.785202 meters looking forward 0.000000 meters along route # Maximum depth: 326.785202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 286.785202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.922007; longitude = -118.600918; captureRadius = 10; duration = 59; initialDepth = 285.608335; finalDepth = 286.785202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:286.785202 # Seafloor depth:-326.785202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 59.325926 meters # Minimum depth: 325.608335 meters looking forward 0.000000 meters along route # Maximum depth: 325.608335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 285.608335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.921871; longitude = -118.600378; captureRadius = 10; duration = 59; initialDepth = 284.117447; finalDepth = 285.608335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:285.608335 # Seafloor depth:-325.608335 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 102 # Segment length 59.325926 meters # Minimum depth: 324.117447 meters looking forward 0.000000 meters along route # Maximum depth: 324.117447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 284.117447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.921726; longitude = -118.599802; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 283.220113; finalDepth = 284.117447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:284.117447 # Seafloor depth:-324.117447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 59.325926 meters # Minimum depth: 323.220113 meters looking forward 0.000000 meters along route # Maximum depth: 323.220113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 283.220113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.921679; longitude = -118.599514; captureRadius = 10; duration = 59; initialDepth = 281.716365; finalDepth = 283.220113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:283.220113 # Seafloor depth:-323.220113 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 59.325926 meters # Minimum depth: 321.716365 meters looking forward 0.000000 meters along route # Maximum depth: 321.716365 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 281.716365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.921592; longitude = -118.598974; captureRadius = 10; duration = 59; initialDepth = 279.769110; finalDepth = 281.716365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:281.716365 # Seafloor depth:-321.716365 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 59.325926 meters # Minimum depth: 319.769110 meters looking forward 0.000000 meters along route # Maximum depth: 319.769110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 279.769110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.921504; longitude = -118.598434; captureRadius = 10; duration = 59; initialDepth = 277.897387; finalDepth = 279.769110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:279.76911 # Seafloor depth:-319.769110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 59.325926 meters # Minimum depth: 317.897387 meters looking forward 0.000000 meters along route # Maximum depth: 317.897387 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 277.897387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.921417; longitude = -118.597894; captureRadius = 10; duration = 59; initialDepth = 276.250571; finalDepth = 277.897387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:277.897387 # Seafloor depth:-317.897387 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 59.325926 meters # Minimum depth: 316.250571 meters looking forward 0.000000 meters along route # Maximum depth: 316.250571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 276.250571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.921329; longitude = -118.597353; captureRadius = 10; duration = 59; initialDepth = 275.294342; finalDepth = 276.250571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:276.250571 # Seafloor depth:-316.250571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 59.325926 meters # Minimum depth: 315.294342 meters looking forward 0.000000 meters along route # Maximum depth: 315.294342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 275.294342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.921241; longitude = -118.596813; captureRadius = 10; duration = 59; initialDepth = 273.365820; finalDepth = 275.294342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:275.294342 # Seafloor depth:-315.294342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 59.325926 meters # Minimum depth: 313.365820 meters looking forward 0.000000 meters along route # Maximum depth: 313.365820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 273.365820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.921154; longitude = -118.596273; captureRadius = 10; duration = 59; initialDepth = 273.205066; finalDepth = 273.365820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:273.36582 # Seafloor depth:-313.365820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 59.325926 meters # Minimum depth: 313.205066 meters looking forward 0.000000 meters along route # Maximum depth: 313.205066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 273.205066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.921066; longitude = -118.595733; captureRadius = 10; duration = 59; initialDepth = 272.549202; finalDepth = 273.205066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:273.205066 # Seafloor depth:-313.205066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 59.325926 meters # Minimum depth: 312.549202 meters looking forward 0.000000 meters along route # Maximum depth: 312.549202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 272.549202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.920979; longitude = -118.595193; captureRadius = 10; duration = 59; initialDepth = 269.635092; finalDepth = 272.549202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:272.549202 # Seafloor depth:-312.549202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 59.325926 meters # Minimum depth: 309.635092 meters looking forward 0.000000 meters along route # Maximum depth: 309.635092 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 269.635092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.920891; longitude = -118.594653; captureRadius = 10; duration = 59; initialDepth = 264.468690; finalDepth = 269.635092; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:269.635092 # Seafloor depth:-309.635092 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 59.325926 meters # Minimum depth: 304.468690 meters looking forward 0.000000 meters along route # Maximum depth: 304.468690 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 264.468690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.920804; longitude = -118.594113; captureRadius = 10; duration = 59; initialDepth = 261.453024; finalDepth = 264.468690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:264.46869 # Seafloor depth:-304.468690 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 59.325926 meters # Minimum depth: 301.453024 meters looking forward 0.000000 meters along route # Maximum depth: 301.453024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 261.453024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.920716; longitude = -118.593572; captureRadius = 10; duration = 59; initialDepth = 259.488191; finalDepth = 261.453024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:261.453024 # Seafloor depth:-301.453024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 59.325926 meters # Minimum depth: 299.488191 meters looking forward 0.000000 meters along route # Maximum depth: 299.488191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 259.488191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.920628; longitude = -118.593032; captureRadius = 10; duration = 59; initialDepth = 255.761970; finalDepth = 259.488191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:259.488191 # Seafloor depth:-299.488191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 59.325926 meters # Minimum depth: 295.761970 meters looking forward 0.000000 meters along route # Maximum depth: 295.761970 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 255.761970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.920541; longitude = -118.592492; captureRadius = 10; duration = 59; initialDepth = 255.332183; finalDepth = 255.761970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:255.76197 # Seafloor depth:-295.761970 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 59.325926 meters # Minimum depth: 295.332183 meters looking forward 0.000000 meters along route # Maximum depth: 295.332183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 255.332183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.920453; longitude = -118.591952; captureRadius = 10; duration = 59; initialDepth = 252.712707; finalDepth = 255.332183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:255.332183 # Seafloor depth:-295.332183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 59.325926 meters # Minimum depth: 292.712707 meters looking forward 0.000000 meters along route # Maximum depth: 292.712707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 252.712707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.920366; longitude = -118.591412; captureRadius = 10; duration = 59; initialDepth = 252.452239; finalDepth = 252.712707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:252.712707 # Seafloor depth:-292.712707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 59.325926 meters # Minimum depth: 292.452239 meters looking forward 0.000000 meters along route # Maximum depth: 292.452239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 252.452239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.920278; longitude = -118.590872; captureRadius = 10; duration = 59; initialDepth = 251.257728; finalDepth = 252.452239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:252.452239 # Seafloor depth:-292.452239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 59.325926 meters # Minimum depth: 291.257728 meters looking forward 0.000000 meters along route # Maximum depth: 291.257728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 251.257728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.920191; longitude = -118.590332; captureRadius = 10; duration = 59; initialDepth = 249.939012; finalDepth = 251.257728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:251.257728 # Seafloor depth:-291.257728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 59.325926 meters # Minimum depth: 289.939012 meters looking forward 0.000000 meters along route # Maximum depth: 289.939012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 249.939012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.920103; longitude = -118.589792; captureRadius = 10; duration = 59; initialDepth = 249.198099; finalDepth = 249.939012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:249.939012 # Seafloor depth:-289.939012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 59.325926 meters # Minimum depth: 289.198099 meters looking forward 0.000000 meters along route # Maximum depth: 289.198099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 249.198099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.920015; longitude = -118.589251; captureRadius = 10; duration = 59; initialDepth = 247.254066; finalDepth = 249.198099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:249.198099 # Seafloor depth:-289.198099 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 101 # Segment length 59.325926 meters # Minimum depth: 287.254066 meters looking forward 0.000000 meters along route # Maximum depth: 287.254066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 247.254066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.919922; longitude = -118.588675; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 246.712040; finalDepth = 247.254066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:247.254066 # Seafloor depth:-287.254066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 59.325926 meters # Minimum depth: 286.712040 meters looking forward 0.000000 meters along route # Maximum depth: 286.712040 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 246.712040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.919888; longitude = -118.588387; captureRadius = 10; duration = 59; initialDepth = 245.900784; finalDepth = 246.712040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:246.71204 # Seafloor depth:-286.712040 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 59.325926 meters # Minimum depth: 285.900784 meters looking forward 0.000000 meters along route # Maximum depth: 285.900784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 245.900784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.919825; longitude = -118.587847; captureRadius = 10; duration = 59; initialDepth = 245.743786; finalDepth = 245.900784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:245.900784 # Seafloor depth:-285.900784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 59.325926 meters # Minimum depth: 285.743786 meters looking forward 0.000000 meters along route # Maximum depth: 285.743786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 245.743786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.919762; longitude = -118.587307; captureRadius = 10; duration = 59; initialDepth = 242.230374; finalDepth = 245.743786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:245.743786 # Seafloor depth:-285.743786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 59.325926 meters # Minimum depth: 282.230374 meters looking forward 0.000000 meters along route # Maximum depth: 282.230374 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 242.230374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.919699; longitude = -118.586767; captureRadius = 10; duration = 59; initialDepth = 243.473214; finalDepth = 242.230374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:242.230374 # Seafloor depth:-282.230374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 59.325926 meters # Minimum depth: 283.473214 meters looking forward 0.000000 meters along route # Maximum depth: 283.473214 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 243.473214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.919636; longitude = -118.586227; captureRadius = 10; duration = 59; initialDepth = 241.450159; finalDepth = 243.473214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:243.473214 # Seafloor depth:-283.473214 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 59.325926 meters # Minimum depth: 281.450159 meters looking forward 0.000000 meters along route # Maximum depth: 281.450159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 241.450159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.919573; longitude = -118.585687; captureRadius = 10; duration = 59; initialDepth = 238.336145; finalDepth = 241.450159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:241.450159 # Seafloor depth:-281.450159 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 59.325926 meters # Minimum depth: 278.336145 meters looking forward 0.000000 meters along route # Maximum depth: 278.336145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 238.336145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.919510; longitude = -118.585146; captureRadius = 10; duration = 59; initialDepth = 237.741085; finalDepth = 238.336145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:238.336145 # Seafloor depth:-278.336145 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 59.325926 meters # Minimum depth: 277.741085 meters looking forward 0.000000 meters along route # Maximum depth: 277.741085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 237.741085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.919447; longitude = -118.584606; captureRadius = 10; duration = 59; initialDepth = 237.629129; finalDepth = 237.741085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:237.741085 # Seafloor depth:-277.741085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 59.325926 meters # Minimum depth: 277.629129 meters looking forward 0.000000 meters along route # Maximum depth: 277.629129 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 237.629129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.919383; longitude = -118.584066; captureRadius = 10; duration = 59; initialDepth = 236.808449; finalDepth = 237.629129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:237.629129 # Seafloor depth:-277.629129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 59.325926 meters # Minimum depth: 276.808449 meters looking forward 0.000000 meters along route # Maximum depth: 276.808449 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 236.808449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.919320; longitude = -118.583526; captureRadius = 10; duration = 59; initialDepth = 236.569667; finalDepth = 236.808449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:236.808449 # Seafloor depth:-276.808449 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 59.325926 meters # Minimum depth: 276.569667 meters looking forward 0.000000 meters along route # Maximum depth: 276.569667 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 236.569667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.919257; longitude = -118.582986; captureRadius = 10; duration = 59; initialDepth = 237.528482; finalDepth = 236.569667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:236.569667 # Seafloor depth:-276.569667 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 59.325926 meters # Minimum depth: 277.528482 meters looking forward 0.000000 meters along route # Maximum depth: 277.528482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 237.528482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.919194; longitude = -118.582446; captureRadius = 10; duration = 59; initialDepth = 236.404325; finalDepth = 237.528482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:237.528482 # Seafloor depth:-277.528482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 59.325926 meters # Minimum depth: 276.404325 meters looking forward 0.000000 meters along route # Maximum depth: 276.404325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 236.404325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.919131; longitude = -118.581906; captureRadius = 10; duration = 59; initialDepth = 231.789607; finalDepth = 236.404325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:236.404325 # Seafloor depth:-276.404325 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 59.325926 meters # Minimum depth: 271.789607 meters looking forward 0.000000 meters along route # Maximum depth: 271.789607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 231.789607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.919068; longitude = -118.581365; captureRadius = 10; duration = 59; initialDepth = 229.712666; finalDepth = 231.789607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:231.789607 # Seafloor depth:-271.789607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 59.325926 meters # Minimum depth: 269.712666 meters looking forward 0.000000 meters along route # Maximum depth: 269.712666 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 229.712666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.919005; longitude = -118.580825; captureRadius = 10; duration = 59; initialDepth = 227.167717; finalDepth = 229.712666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:229.712666 # Seafloor depth:-269.712666 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 59.325926 meters # Minimum depth: 267.167717 meters looking forward 0.000000 meters along route # Maximum depth: 267.167717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 227.167717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.918942; longitude = -118.580285; captureRadius = 10; duration = 59; initialDepth = 225.218735; finalDepth = 227.167717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:227.167717 # Seafloor depth:-267.167717 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 100 # Segment length 59.325926 meters # Minimum depth: 265.218735 meters looking forward 0.000000 meters along route # Maximum depth: 265.218735 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 225.218735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.918870; longitude = -118.579673; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 225.306835; finalDepth = 225.218735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:225.218735 # Seafloor depth:-265.218735 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 59.325926 meters # Minimum depth: 265.306835 meters looking forward 0.000000 meters along route # Maximum depth: 265.306835 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 225.306835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.918863; longitude = -118.579637; captureRadius = 10; duration = 59; initialDepth = 223.037753; finalDepth = 225.306835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:225.306835 # Seafloor depth:-265.306835 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 59.325926 meters # Minimum depth: 263.037753 meters looking forward 0.000000 meters along route # Maximum depth: 263.037753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 223.037753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.918758; longitude = -118.579097; captureRadius = 10; duration = 59; initialDepth = 219.977785; finalDepth = 223.037753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:223.037753 # Seafloor depth:-263.037753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 59.325926 meters # Minimum depth: 259.977785 meters looking forward 0.000000 meters along route # Maximum depth: 259.977785 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 219.977785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.918652; longitude = -118.578557; captureRadius = 10; duration = 59; initialDepth = 217.911644; finalDepth = 219.977785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:219.977785 # Seafloor depth:-259.977785 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 59.325926 meters # Minimum depth: 257.911644 meters looking forward 0.000000 meters along route # Maximum depth: 257.911644 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 217.911644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.918547; longitude = -118.578017; captureRadius = 10; duration = 59; initialDepth = 217.611153; finalDepth = 217.911644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:217.911644 # Seafloor depth:-257.911644 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 59.325926 meters # Minimum depth: 257.611153 meters looking forward 0.000000 meters along route # Maximum depth: 257.611153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 217.611153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.918442; longitude = -118.577476; captureRadius = 10; duration = 59; initialDepth = 215.139505; finalDepth = 217.611153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:217.611153 # Seafloor depth:-257.611153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 59.325926 meters # Minimum depth: 255.139505 meters looking forward 0.000000 meters along route # Maximum depth: 255.139505 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 215.139505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.918336; longitude = -118.576936; captureRadius = 10; duration = 59; initialDepth = 215.968203; finalDepth = 215.139505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:215.139505 # Seafloor depth:-255.139505 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 59.325926 meters # Minimum depth: 255.968203 meters looking forward 0.000000 meters along route # Maximum depth: 255.968203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 215.968203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.918231; longitude = -118.576396; captureRadius = 10; duration = 59; initialDepth = 214.967196; finalDepth = 215.968203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:215.968203 # Seafloor depth:-255.968203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 59.325926 meters # Minimum depth: 254.967196 meters looking forward 0.000000 meters along route # Maximum depth: 254.967196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 214.967196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.918126; longitude = -118.575856; captureRadius = 10; duration = 59; initialDepth = 213.848092; finalDepth = 214.967196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:214.967196 # Seafloor depth:-254.967196 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 59.325926 meters # Minimum depth: 253.848092 meters looking forward 0.000000 meters along route # Maximum depth: 253.848092 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 213.848092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.918021; longitude = -118.575316; captureRadius = 10; duration = 59; initialDepth = 211.995017; finalDepth = 213.848092; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:213.848092 # Seafloor depth:-253.848092 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 59.325926 meters # Minimum depth: 251.995017 meters looking forward 0.000000 meters along route # Maximum depth: 251.995017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 211.995017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.917915; longitude = -118.574776; captureRadius = 10; duration = 59; initialDepth = 207.576144; finalDepth = 211.995017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:211.995017 # Seafloor depth:-251.995017 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 59.325926 meters # Minimum depth: 247.576144 meters looking forward 0.000000 meters along route # Maximum depth: 247.576144 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 207.576144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.917810; longitude = -118.574236; captureRadius = 10; duration = 59; initialDepth = 205.647998; finalDepth = 207.576144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:207.576144 # Seafloor depth:-247.576144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 59.325926 meters # Minimum depth: 245.647998 meters looking forward 0.000000 meters along route # Maximum depth: 245.647998 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 205.647998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.917705; longitude = -118.573696; captureRadius = 10; duration = 59; initialDepth = 202.583361; finalDepth = 205.647998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:205.647998 # Seafloor depth:-245.647998 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 59.325926 meters # Minimum depth: 242.583361 meters looking forward 0.000000 meters along route # Maximum depth: 242.583361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 202.583361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.917599; longitude = -118.573155; captureRadius = 10; duration = 59; initialDepth = 199.831203; finalDepth = 202.583361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:202.583361 # Seafloor depth:-242.583361 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 99 # Segment length 59.325926 meters # Minimum depth: 239.831203 meters looking forward 0.000000 meters along route # Maximum depth: 239.831203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 199.831203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.917487; longitude = -118.572579; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 199.499007; finalDepth = 199.831203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:199.831203 # Seafloor depth:-239.831203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 59.325926 meters # Minimum depth: 239.499007 meters looking forward 0.000000 meters along route # Maximum depth: 239.499007 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 199.499007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.917599; longitude = -118.572291; captureRadius = 10; duration = 59; initialDepth = 197.455465; finalDepth = 199.499007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:199.499007 # Seafloor depth:-239.499007 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 59.325926 meters # Minimum depth: 237.455465 meters looking forward 0.000000 meters along route # Maximum depth: 237.455465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 197.455465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.917818; longitude = -118.571728; captureRadius = 10; duration = 59; initialDepth = 194.537747; finalDepth = 197.455465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:197.455465 # Seafloor depth:-237.455465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 59.325926 meters # Minimum depth: 234.537747 meters looking forward 0.000000 meters along route # Maximum depth: 234.537747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 194.537747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.918018; longitude = -118.571211; captureRadius = 10; duration = 59; initialDepth = 190.962656; finalDepth = 194.537747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:194.537747 # Seafloor depth:-234.537747 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 59.325926 meters # Minimum depth: 230.962656 meters looking forward 0.000000 meters along route # Maximum depth: 230.962656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 190.962656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.918228; longitude = -118.570671; captureRadius = 10; duration = 59; initialDepth = 184.802465; finalDepth = 190.962656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:190.962656 # Seafloor depth:-230.962656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 59.325926 meters # Minimum depth: 224.802465 meters looking forward 0.000000 meters along route # Maximum depth: 224.802465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 184.802465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.918449; longitude = -118.570103; captureRadius = 10; duration = 59; initialDepth = 182.059185; finalDepth = 184.802465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:184.802465 # Seafloor depth:-224.802465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 59.325926 meters # Minimum depth: 222.059185 meters looking forward 0.000000 meters along route # Maximum depth: 222.059185 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 182.059185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.918648; longitude = -118.569591; captureRadius = 10; duration = 59; initialDepth = 180.561420; finalDepth = 182.059185; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:182.059185 # Seafloor depth:-222.059185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 59.325926 meters # Minimum depth: 220.561420 meters looking forward 0.000000 meters along route # Maximum depth: 220.561420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 180.561420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.918858; longitude = -118.569050; captureRadius = 10; duration = 59; initialDepth = 174.917279; finalDepth = 180.561420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:180.56142 # Seafloor depth:-220.561420 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 59.325926 meters # Minimum depth: 214.917279 meters looking forward 0.000000 meters along route # Maximum depth: 214.917279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 174.917279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.919080; longitude = -118.568478; captureRadius = 10; duration = 59; initialDepth = 171.958880; finalDepth = 174.917279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:174.917279 # Seafloor depth:-214.917279 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 59.325926 meters # Minimum depth: 211.958880 meters looking forward 0.000000 meters along route # Maximum depth: 211.958880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 171.958880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.919278; longitude = -118.567970; captureRadius = 10; duration = 59; initialDepth = 168.616427; finalDepth = 171.958880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:171.95888 # Seafloor depth:-211.958880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 59.325926 meters # Minimum depth: 208.616427 meters looking forward 0.000000 meters along route # Maximum depth: 208.616427 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 168.616427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.919487; longitude = -118.567430; captureRadius = 10; duration = 59; initialDepth = 166.155335; finalDepth = 168.616427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:168.616427 # Seafloor depth:-208.616427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 59.325926 meters # Minimum depth: 206.155335 meters looking forward 0.000000 meters along route # Maximum depth: 206.155335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 166.155335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.919712; longitude = -118.566853; captureRadius = 10; duration = 59; initialDepth = 163.568166; finalDepth = 166.155335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:166.155335 # Seafloor depth:-206.155335 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 59.325926 meters # Minimum depth: 203.568166 meters looking forward 0.000000 meters along route # Maximum depth: 203.568166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 163.568166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.919907; longitude = -118.566350; captureRadius = 10; duration = 59; initialDepth = 158.083674; finalDepth = 163.568166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:163.568166 # Seafloor depth:-203.568166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 59.325926 meters # Minimum depth: 198.083674 meters looking forward 0.000000 meters along route # Maximum depth: 198.083674 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 158.083674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.920117; longitude = -118.565810; captureRadius = 10; duration = 59; initialDepth = 154.413078; finalDepth = 158.083674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:158.083674 # Seafloor depth:-198.083674 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 98 # Segment length 59.325926 meters # Minimum depth: 194.413078 meters looking forward 0.000000 meters along route # Maximum depth: 194.413078 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.413078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.920313; longitude = -118.565305; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 153.715399; finalDepth = 154.413078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:154.413078 # Seafloor depth:-194.413078 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 59.325926 meters # Minimum depth: 193.715399 meters looking forward 0.000000 meters along route # Maximum depth: 193.715399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 153.715399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.920563; longitude = -118.564945; captureRadius = 10; duration = 59; initialDepth = 152.545271; finalDepth = 153.715399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:153.715399 # Seafloor depth:-193.715399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 59.325926 meters # Minimum depth: 192.545271 meters looking forward 0.000000 meters along route # Maximum depth: 192.545271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 152.545271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.920863; longitude = -118.564513; captureRadius = 10; duration = 59; initialDepth = 151.946021; finalDepth = 152.545271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:152.545271 # Seafloor depth:-192.545271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 59.325926 meters # Minimum depth: 191.946021 meters looking forward 0.000000 meters along route # Maximum depth: 191.946021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 151.946021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.921163; longitude = -118.564081; captureRadius = 10; duration = 59; initialDepth = 149.145033; finalDepth = 151.946021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:151.946021 # Seafloor depth:-191.946021 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 59.325926 meters # Minimum depth: 189.145033 meters looking forward 0.000000 meters along route # Maximum depth: 189.145033 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 149.145033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.921464; longitude = -118.563649; captureRadius = 10; duration = 59; initialDepth = 148.048294; finalDepth = 149.145033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:149.145033 # Seafloor depth:-189.145033 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 59.325926 meters # Minimum depth: 188.048294 meters looking forward 0.000000 meters along route # Maximum depth: 188.048294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 148.048294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.921764; longitude = -118.563217; captureRadius = 10; duration = 59; initialDepth = 146.312086; finalDepth = 148.048294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:148.048294 # Seafloor depth:-188.048294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 59.325926 meters # Minimum depth: 186.312086 meters looking forward 0.000000 meters along route # Maximum depth: 186.312086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 146.312086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.922064; longitude = -118.562785; captureRadius = 10; duration = 59; initialDepth = 142.762575; finalDepth = 146.312086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:146.312086 # Seafloor depth:-186.312086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 59.325926 meters # Minimum depth: 182.762575 meters looking forward 0.000000 meters along route # Maximum depth: 182.762575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 142.762575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.922365; longitude = -118.562353; captureRadius = 10; duration = 59; initialDepth = 141.078023; finalDepth = 142.762575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:142.762575 # Seafloor depth:-182.762575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 59.325926 meters # Minimum depth: 181.078023 meters looking forward 0.000000 meters along route # Maximum depth: 181.078023 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 141.078023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.922665; longitude = -118.561921; captureRadius = 10; duration = 59; initialDepth = 138.401183; finalDepth = 141.078023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:141.078023 # Seafloor depth:-181.078023 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 59.325926 meters # Minimum depth: 178.401183 meters looking forward 0.000000 meters along route # Maximum depth: 178.401183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 138.401183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.922965; longitude = -118.561489; captureRadius = 10; duration = 59; initialDepth = 134.569293; finalDepth = 138.401183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:138.401183 # Seafloor depth:-178.401183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 59.325926 meters # Minimum depth: 174.569293 meters looking forward 0.000000 meters along route # Maximum depth: 174.569293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 134.569293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.923266; longitude = -118.561056; captureRadius = 10; duration = 59; initialDepth = 130.528826; finalDepth = 134.569293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:134.569293 # Seafloor depth:-174.569293 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 59.325926 meters # Minimum depth: 170.528826 meters looking forward 0.000000 meters along route # Maximum depth: 170.528826 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 130.528826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.923566; longitude = -118.560624; captureRadius = 10; duration = 59; initialDepth = 124.375731; finalDepth = 130.528826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:130.528826 # Seafloor depth:-170.528826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 59.325926 meters # Minimum depth: 164.375731 meters looking forward 0.000000 meters along route # Maximum depth: 164.375731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 124.375731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.923866; longitude = -118.560192; captureRadius = 10; duration = 59; initialDepth = 116.537566; finalDepth = 124.375731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:124.375731 # Seafloor depth:-164.375731 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 59.325926 meters # Minimum depth: 156.537566 meters looking forward 0.000000 meters along route # Maximum depth: 156.537566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.537566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.924166; longitude = -118.559760; captureRadius = 10; duration = 59; initialDepth = 112.850745; finalDepth = 116.537566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:116.537566 # Seafloor depth:-156.537566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 59.325926 meters # Minimum depth: 152.850745 meters looking forward 0.000000 meters along route # Maximum depth: 152.850745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.850745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.924491; longitude = -118.559293; captureRadius = 10; duration = 59; initialDepth = 112.988152; finalDepth = 112.850745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:112.850745 # Seafloor depth:-152.850745 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 97 # Segment length 59.325926 meters # Minimum depth: 152.988152 meters looking forward 0.000000 meters along route # Maximum depth: 152.988152 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.988152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.924792; longitude = -118.558860; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 112.164162; finalDepth = 112.988152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:112.988152 # Seafloor depth:-152.988152 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 59.325926 meters # Minimum depth: 152.164162 meters looking forward 0.000000 meters along route # Maximum depth: 152.164162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.164162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.924853; longitude = -118.558788; captureRadius = 10; duration = 59; initialDepth = 116.101751; finalDepth = 112.164162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:112.164162 # Seafloor depth:-152.164162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 59.325926 meters # Minimum depth: 156.101751 meters looking forward 0.000000 meters along route # Maximum depth: 156.101751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.101751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.925218; longitude = -118.558356; captureRadius = 10; duration = 59; initialDepth = 116.214605; finalDepth = 116.101751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:116.101751 # Seafloor depth:-156.101751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 59.325926 meters # Minimum depth: 156.214605 meters looking forward 0.000000 meters along route # Maximum depth: 156.214605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.214605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.925583; longitude = -118.557924; captureRadius = 10; duration = 59; initialDepth = 115.685436; finalDepth = 116.214605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:116.214605 # Seafloor depth:-156.214605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 59.325926 meters # Minimum depth: 155.685436 meters looking forward 0.000000 meters along route # Maximum depth: 155.685436 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.685436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.925948; longitude = -118.557492; captureRadius = 10; duration = 59; initialDepth = 111.805392; finalDepth = 115.685436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:115.685436 # Seafloor depth:-155.685436 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 59.325926 meters # Minimum depth: 151.805392 meters looking forward 0.000000 meters along route # Maximum depth: 151.805392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.805392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.926314; longitude = -118.557059; captureRadius = 10; duration = 59; initialDepth = 106.480828; finalDepth = 111.805392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:111.805392 # Seafloor depth:-151.805392 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 59.325926 meters # Minimum depth: 146.480828 meters looking forward 0.000000 meters along route # Maximum depth: 146.480828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 106.480828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.926679; longitude = -118.556627; captureRadius = 10; duration = 59; initialDepth = 107.276828; finalDepth = 106.480828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:106.480828 # Seafloor depth:-146.480828 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 59.325926 meters # Minimum depth: 147.276828 meters looking forward 0.000000 meters along route # Maximum depth: 147.276828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.276828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.927044; longitude = -118.556195; captureRadius = 10; duration = 59; initialDepth = 108.312204; finalDepth = 107.276828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:107.276828 # Seafloor depth:-147.276828 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 59.325926 meters # Minimum depth: 148.312204 meters looking forward 0.000000 meters along route # Maximum depth: 148.312204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.312204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.927409; longitude = -118.555763; captureRadius = 10; duration = 59; initialDepth = 111.797919; finalDepth = 108.312204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:108.312204 # Seafloor depth:-148.312204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 59.325926 meters # Minimum depth: 151.797919 meters looking forward 0.000000 meters along route # Maximum depth: 151.797919 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.797919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.927774; longitude = -118.555331; captureRadius = 10; duration = 59; initialDepth = 112.928125; finalDepth = 111.797919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:111.797919 # Seafloor depth:-151.797919 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 59.325926 meters # Minimum depth: 152.928125 meters looking forward 0.000000 meters along route # Maximum depth: 152.928125 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.928125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.928098; longitude = -118.554947; captureRadius = 10; duration = 59; initialDepth = 109.801111; finalDepth = 112.928125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:112.928125 # Seafloor depth:-152.928125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 59.325926 meters # Minimum depth: 149.801111 meters looking forward 0.000000 meters along route # Maximum depth: 149.801111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.801111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.928459; longitude = -118.554521; captureRadius = 10; duration = 59; initialDepth = 106.956148; finalDepth = 109.801111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:109.801111 # Seafloor depth:-149.801111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 59.325926 meters # Minimum depth: 146.956148 meters looking forward 0.000000 meters along route # Maximum depth: 146.956148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 106.956148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.928820; longitude = -118.554094; captureRadius = 10; duration = 59; initialDepth = 101.001158; finalDepth = 106.956148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:106.956148 # Seafloor depth:-146.956148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 59.325926 meters # Minimum depth: 141.001158 meters looking forward 0.000000 meters along route # Maximum depth: 141.001158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 101.001158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.929181; longitude = -118.553667; captureRadius = 10; duration = 59; initialDepth = 94.862213; finalDepth = 101.001158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:101.001158 # Seafloor depth:-141.001158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 59.325926 meters # Minimum depth: 134.862213 meters looking forward 0.000000 meters along route # Maximum depth: 134.862213 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 94.862213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.929541; longitude = -118.553240; captureRadius = 10; duration = 59; initialDepth = 85.314472; finalDepth = 94.862213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:94.862213 # Seafloor depth:-134.862213 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 59.325926 meters # Minimum depth: 125.314472 meters looking forward 0.000000 meters along route # Maximum depth: 125.314472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.314472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.929902; longitude = -118.552813; captureRadius = 10; duration = 59; initialDepth = 74.197056; finalDepth = 85.314472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:85.314472 # Seafloor depth:-125.314472 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 96 # Segment length 59.325926 meters # Minimum depth: 114.197056 meters looking forward 0.000000 meters along route # Maximum depth: 114.197056 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.197056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.930268; longitude = -118.552380; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 69.811289; finalDepth = 74.197056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:74.197056 # Seafloor depth:-114.197056 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 59.325926 meters # Minimum depth: 109.811289 meters looking forward 0.000000 meters along route # Maximum depth: 109.811289 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.811289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.930447; longitude = -118.552198; captureRadius = 10; duration = 59; initialDepth = 62.373828; finalDepth = 69.811289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:69.811289 # Seafloor depth:-109.811289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 59.325926 meters # Minimum depth: 102.373828 meters looking forward 0.000000 meters along route # Maximum depth: 102.373828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.373828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.930804; longitude = -118.551836; captureRadius = 10; duration = 59; initialDepth = 53.292746; finalDepth = 62.373828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.373828 # Seafloor depth:-102.373828 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 59.325926 meters # Minimum depth: 93.292746 meters looking forward 0.000000 meters along route # Maximum depth: 93.292746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.292746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.931165; longitude = -118.551470; captureRadius = 10; duration = 59; initialDepth = 44.519199; finalDepth = 53.292746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.292746 # Seafloor depth:-93.292746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 59.325926 meters # Minimum depth: 84.519199 meters looking forward 0.000000 meters along route # Maximum depth: 84.519199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 44.519199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.931525; longitude = -118.551104; captureRadius = 10; duration = 59; initialDepth = 37.413549; finalDepth = 44.519199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:44.519199 # Seafloor depth:-84.519199 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 59.325926 meters # Minimum depth: 77.413549 meters looking forward 0.000000 meters along route # Maximum depth: 77.413549 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 37.413549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.931886; longitude = -118.550738; captureRadius = 10; duration = 59; initialDepth = 41.391224; finalDepth = 37.413549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:37.413549 # Seafloor depth:-77.413549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 59.325926 meters # Minimum depth: 81.391224 meters looking forward 0.000000 meters along route # Maximum depth: 81.391224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 41.391224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.932257; longitude = -118.550362; captureRadius = 10; duration = 59; initialDepth = 48.351584; finalDepth = 41.391224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:41.391224 # Seafloor depth:-81.391224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 59.325926 meters # Minimum depth: 88.351584 meters looking forward 0.000000 meters along route # Maximum depth: 88.351584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 48.351584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.932607; longitude = -118.550006; captureRadius = 10; duration = 59; initialDepth = 52.927993; finalDepth = 48.351584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:48.351584 # Seafloor depth:-88.351584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 59.325926 meters # Minimum depth: 92.927993 meters looking forward 0.000000 meters along route # Maximum depth: 92.927993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.927993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.932968; longitude = -118.549640; captureRadius = 10; duration = 59; initialDepth = 55.490533; finalDepth = 52.927993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.927993 # Seafloor depth:-92.927993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 59.325926 meters # Minimum depth: 95.490533 meters looking forward 0.000000 meters along route # Maximum depth: 95.490533 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.490533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.933329; longitude = -118.549274; captureRadius = 10; duration = 59; initialDepth = 54.365837; finalDepth = 55.490533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.490533 # Seafloor depth:-95.490533 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 59.325926 meters # Minimum depth: 94.365837 meters looking forward 0.000000 meters along route # Maximum depth: 94.365837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.365837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.933690; longitude = -118.548908; captureRadius = 10; duration = 59; initialDepth = 51.135314; finalDepth = 54.365837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.365837 # Seafloor depth:-94.365837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 59.325926 meters # Minimum depth: 91.135314 meters looking forward 0.000000 meters along route # Maximum depth: 91.135314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.135314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.934050; longitude = -118.548542; captureRadius = 10; duration = 59; initialDepth = 50.132597; finalDepth = 51.135314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:51.135314 # Seafloor depth:-91.135314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 59.325926 meters # Minimum depth: 90.132597 meters looking forward 0.000000 meters along route # Maximum depth: 90.132597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.132597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.934411; longitude = -118.548176; captureRadius = 10; duration = 59; initialDepth = 49.818710; finalDepth = 50.132597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:50.132597 # Seafloor depth:-90.132597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 59.325926 meters # Minimum depth: 89.818710 meters looking forward 0.000000 meters along route # Maximum depth: 89.818710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.818710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.934772; longitude = -118.547810; captureRadius = 10; duration = 59; initialDepth = 47.431817; finalDepth = 49.818710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:49.81871 # Seafloor depth:-89.818710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 59.325926 meters # Minimum depth: 87.431817 meters looking forward 0.000000 meters along route # Maximum depth: 87.431817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.431817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.935132; longitude = -118.547444; captureRadius = 10; duration = 59; initialDepth = 43.252790; finalDepth = 47.431817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:47.431817 # Seafloor depth:-87.431817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 59.325926 meters # Minimum depth: 83.252790 meters looking forward 0.000000 meters along route # Maximum depth: 83.252790 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 43.252790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.935493; longitude = -118.547078; captureRadius = 10; duration = 59; initialDepth = 40.505013; finalDepth = 43.252790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:43.25279 # Seafloor depth:-83.252790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 59.325926 meters # Minimum depth: 80.505013 meters looking forward 0.000000 meters along route # Maximum depth: 80.505013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 40.505013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.935877; longitude = -118.546689; captureRadius = 10; duration = 59; initialDepth = 37.723280; finalDepth = 40.505013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:40.505013 # Seafloor depth:-80.505013 # 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 = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 95 # Segment length 59.325926 meters # Minimum depth: 77.723280 meters looking forward 0.000000 meters along route # Maximum depth: 77.723280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 37.723280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.936279; longitude = -118.546281; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 38.280786; finalDepth = 37.723280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:37.72328 # Seafloor depth:-77.723280 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 59.325926 meters # Minimum depth: 78.280786 meters looking forward 0.000000 meters along route # Maximum depth: 78.280786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 38.280786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.936485; longitude = -118.546399; captureRadius = 10; duration = 59; initialDepth = 39.039107; finalDepth = 38.280786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:38.280786 # Seafloor depth:-78.280786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 59.325926 meters # Minimum depth: 79.039107 meters looking forward 0.000000 meters along route # Maximum depth: 79.039107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 39.039107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.936936; longitude = -118.546657; captureRadius = 10; duration = 59; initialDepth = 37.207178; finalDepth = 39.039107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:39.039107 # Seafloor depth:-79.039107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 59.325926 meters # Minimum depth: 77.207178 meters looking forward 0.000000 meters along route # Maximum depth: 77.207178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 800.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 37.207178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.937387; longitude = -118.546916; captureRadius = 10; duration = 59; initialDepth = 35.836384; finalDepth = 37.207178; maxCrossTrackError = 30; speed = 1.500000; } #surface at shallow end of line behavior descend { horizontalMode = heading; horizontal = 151.0; 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 = 151.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } behavior getgps { duration = 600; minHits = 30; 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 = 60; 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; } # ####################################################### #######################################################