# 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_2v2.rte # Mission File: SantaMonica_2v2.cfg # Distance: 92404.159654 (m) # Estimated Time: 62880 (s) 17.467 (hr) # Abort Time: 62285 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 714 (s) # Way Points: 93 # Route Points: 1828 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 40 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 700 (m) # Abort Vehicle Depth: 750 (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 -118.547301 33.939221 -69.021810 0.000000 3 # 1 -118.546869 33.936064 -81.178853 352.324683 1 # 2 -118.548165 33.934261 -90.081584 585.503129 1 # 3 -118.549318 33.931044 -109.949320 957.788754 1 # 4 -118.550830 33.929511 -122.596649 1177.917504 1 # 5 -118.554971 33.928309 -154.326681 1583.308649 1 # 6 -118.558860 33.924792 -152.988152 2113.777444 1 # 7 -118.565305 33.920313 -194.413078 2889.548776 1 # 8 -118.572579 33.917487 -239.831203 3631.542682 1 # 9 -118.579673 33.918870 -265.218735 4305.152495 1 # 10 -118.588675 33.919922 -287.254066 5145.609838 1 # 11 -118.599802 33.921726 -324.117447 6193.666485 1 # 12 -118.605527 33.923168 -334.867188 6746.613718 1 # 13 -118.617374 33.926986 -362.767281 7920.919771 1 # 14 -118.620219 33.927227 -380.884171 8185.300752 1 # 15 -118.624756 33.927136 -392.972725 8604.877755 1 # 16 -118.629257 33.926625 -403.823502 9024.848734 1 # 17 -118.633470 33.925363 -409.388893 9438.740758 1 # 18 -118.645245 33.920493 -413.627548 10654.046054 1 # 19 -118.653779 33.916345 -464.050224 11567.437336 1 # 20 -118.661557 33.912106 -458.420975 12426.679568 1 # 21 -118.669659 33.906966 -490.539246 13368.115673 1 # 22 -118.672900 33.904892 -497.809860 13745.927684 1 # 23 -118.676285 33.904321 -498.224815 14065.308242 1 # 24 -118.680282 33.902337 -512.312836 14495.487533 1 # 25 -118.683271 33.899751 -536.660522 14893.826836 1 # 26 -118.687304 33.897106 -539.165665 15368.359505 1 # 27 -118.691841 33.892597 -546.159393 16021.180430 1 # 28 -118.694289 33.890192 -570.018372 16371.060951 1 # 29 -118.697314 33.888298 -594.240753 16720.937956 1 # 30 -118.697422 33.886765 -595.051712 16891.255710 1 # 31 -118.695082 33.884120 -593.595825 17255.821135 1 # 32 -118.695190 33.882587 -613.936539 17426.138671 1 # 33 -118.697422 33.881445 -622.223770 17668.360203 1 # 34 -118.696990 33.880182 -626.985962 17814.027719 1 # 35 -118.695262 33.878108 -640.961349 18094.142848 1 # 36 -118.694613 33.876845 -640.693436 18246.545446 1 # 37 -118.695514 33.875102 -651.144394 18457.064249 1 # 38 -118.694757 33.872216 -670.406769 18784.720278 1 # 39 -118.694757 33.869330 -675.011383 19104.804474 1 # 40 -118.694181 33.867557 -682.210938 19308.539512 1 # 41 -118.693353 33.864731 -696.255783 19631.194974 1 # 42 -118.693317 33.862236 -706.736282 19907.933231 1 # 43 -118.694001 33.860042 -717.068130 20159.363168 1 # 44 -118.692777 33.856915 -716.671036 20524.199615 1 # 45 -118.691373 33.853939 -729.356018 20878.911785 1 # 46 -118.691913 33.851955 -732.468567 21104.557225 1 # 47 -118.694181 33.849881 -728.608139 21415.938677 1 # 48 -118.696810 33.847236 -749.640076 21797.048688 1 # 49 -118.705092 33.834731 -814.148834 23381.672508 4 # 50 -118.709305 33.837527 -784.249847 23879.875552 3 # 51 -118.705308 33.842667 -751.478973 24559.451466 1 # 52 -118.702319 33.847597 -710.739685 25172.220055 1 # 53 -118.700483 33.851114 -693.795380 25597.683510 1 # 54 -118.696270 33.853639 -678.768738 26077.693840 3 # 55 -118.701268 33.886685 -562.132263 29771.860143 4 # 56 -118.702859 33.886375 -522.629578 29922.988523 3 # 57 -118.697746 33.853218 -690.092041 33630.713722 4 # 58 -118.699403 33.852286 -689.893005 33815.632789 3 # 59 -118.704660 33.886134 -529.877808 37601.073852 4 # 60 -118.706424 33.886014 -529.585327 37764.784519 3 # 61 -118.701095 33.851685 -686.879364 41603.989219 4 # 62 -118.702427 33.849130 -689.329163 41913.009205 3 # 63 -118.708225 33.885773 -532.616623 46012.320894 4 # 64 -118.710061 33.885503 -535.280563 46184.770624 3 # 65 -118.703832 33.845072 -739.224472 50705.842901 4 # 66 -118.705452 33.843088 -744.181763 50972.105918 3 # 67 -118.712006 33.885413 -539.030701 55705.364710 4 # 68 -118.713950 33.885322 -544.389420 55885.468338 3 # 69 -118.705740 33.832657 -816.804779 61775.718586 4 # 70 -118.708009 33.833919 -813.305817 62028.097594 3 # 71 -118.716003 33.885142 -554.053986 67757.178527 4 # 72 -118.717983 33.884842 -559.497330 67943.328043 3 # 73 -118.710313 33.835332 -791.387848 73480.146689 3 # 74 -118.704372 33.832536 -820.650101 74111.433921 1 # 75 -118.695082 33.846424 -682.160797 75875.452891 4 # 76 -118.690977 33.849581 -608.513931 76392.080106 1 # 77 -118.688456 33.852316 -597.463013 76774.747412 1 # 78 -118.688708 33.854090 -605.683289 76972.876529 1 # 79 -118.689140 33.855262 -609.660797 77108.869366 1 # 80 -118.691733 33.858779 -621.506439 77566.819843 3 # 81 -118.715823 33.863559 -656.500183 79857.953700 3 # 82 -118.697746 33.871164 -592.941498 81731.083245 3 # 83 -118.698502 33.873960 -577.924576 82048.975376 1 # 84 -118.697026 33.876725 -580.812073 82384.665676 1 # 85 -118.699403 33.879791 -557.531830 82789.616120 1 # 86 -118.700267 33.882226 -546.114059 83071.259440 3 # 87 -118.718199 33.874831 -587.792664 84921.790094 3 # 88 -118.715066 33.853729 -709.085236 87280.096939 3 # 89 -118.701527 33.833108 -806.581894 89887.891399 3 # 90 -118.693245 33.845342 -682.987930 91446.282098 1 # 91 -118.689320 33.848619 -618.861496 91960.116440 1 # 92 -118.686511 33.851865 -595.321091 92404.159654 4 # # A total of 1828 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 63000; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 700.000000; abortDepth = 750.000000; minAltitude = 50.000000; abortAltitude = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 5; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 714; 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 92 # Segment length 53.687574 meters # Minimum depth: 595.321091 meters looking forward 0.000000 meters along route # Maximum depth: 595.321091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.321091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851865; longitude = -118.686511; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 556.020615; finalDepth = 555.321091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:555.321091 # Seafloor depth:-595.321091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 53.687574 meters # Minimum depth: 596.020615 meters looking forward 0.000000 meters along route # Maximum depth: 596.020615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.020615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851656; longitude = -118.686691; captureRadius = 10; duration = 53; initialDepth = 557.751976; finalDepth = 556.020615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.020615 # Seafloor depth:-596.020615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 53.687574 meters # Minimum depth: 597.751976 meters looking forward 0.000000 meters along route # Maximum depth: 597.751976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.751976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851282; longitude = -118.687016; captureRadius = 10; duration = 53; initialDepth = 560.127340; finalDepth = 557.751976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.751976 # Seafloor depth:-597.751976 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 53.687574 meters # Minimum depth: 600.127340 meters looking forward 0.000000 meters along route # Maximum depth: 600.127340 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.127340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850903; longitude = -118.687343; captureRadius = 10; duration = 53; initialDepth = 562.194445; finalDepth = 560.127340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.12734 # Seafloor depth:-600.127340 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 53.687574 meters # Minimum depth: 602.194445 meters looking forward 0.000000 meters along route # Maximum depth: 602.194445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.194445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850533; longitude = -118.687664; captureRadius = 10; duration = 53; initialDepth = 565.377451; finalDepth = 562.194445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:562.194445 # Seafloor depth:-602.194445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 53.687574 meters # Minimum depth: 605.377451 meters looking forward 0.000000 meters along route # Maximum depth: 605.377451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.377451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850158; longitude = -118.687988; captureRadius = 10; duration = 53; initialDepth = 568.504014; finalDepth = 565.377451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.377451 # Seafloor depth:-605.377451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 53.687574 meters # Minimum depth: 608.504014 meters looking forward 0.000000 meters along route # Maximum depth: 608.504014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.504014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849784; longitude = -118.688312; captureRadius = 10; duration = 53; initialDepth = 571.140386; finalDepth = 568.504014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:568.504014 # Seafloor depth:-608.504014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 53.687574 meters # Minimum depth: 611.140386 meters looking forward 0.000000 meters along route # Maximum depth: 611.140386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.140386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849409; longitude = -118.688636; captureRadius = 10; duration = 53; initialDepth = 574.181798; finalDepth = 571.140386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.140386 # Seafloor depth:-611.140386 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 53.687574 meters # Minimum depth: 614.181798 meters looking forward 0.000000 meters along route # Maximum depth: 614.181798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.181798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849010; longitude = -118.688982; captureRadius = 10; duration = 53; initialDepth = 578.861496; finalDepth = 574.181798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.181798 # Seafloor depth:-614.181798 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 91 # Segment length 53.687574 meters # Minimum depth: 618.861496 meters looking forward 0.000000 meters along route # Maximum depth: 618.861496 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.861496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848619; longitude = -118.689320; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 579.468670; finalDepth = 578.861496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.861496 # Seafloor depth:-618.861496 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 53.687574 meters # Minimum depth: 619.468670 meters looking forward 0.000000 meters along route # Maximum depth: 619.468670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.468670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848559; longitude = -118.689392; captureRadius = 10; duration = 53; initialDepth = 583.934687; finalDepth = 579.468670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.46867 # Seafloor depth:-619.468670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 53.687574 meters # Minimum depth: 623.934687 meters looking forward 0.000000 meters along route # Maximum depth: 623.934687 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.934687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848198; longitude = -118.689824; captureRadius = 10; duration = 53; initialDepth = 582.143260; finalDepth = 583.934687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:583.934687 # Seafloor depth:-623.934687 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 53.687574 meters # Minimum depth: 622.143260 meters looking forward 0.000000 meters along route # Maximum depth: 622.143260 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.143260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847837; longitude = -118.690256; captureRadius = 10; duration = 53; initialDepth = 582.563468; finalDepth = 582.143260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.14326 # Seafloor depth:-622.143260 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 53.687574 meters # Minimum depth: 622.563468 meters looking forward 0.000000 meters along route # Maximum depth: 622.563468 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.563468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847476; longitude = -118.690688; captureRadius = 10; duration = 53; initialDepth = 591.186868; finalDepth = 582.563468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.563468 # Seafloor depth:-622.563468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 53.687574 meters # Minimum depth: 631.186868 meters looking forward 0.000000 meters along route # Maximum depth: 631.186868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.186868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847116; longitude = -118.691121; captureRadius = 10; duration = 53; initialDepth = 601.660326; finalDepth = 591.186868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.186868 # Seafloor depth:-631.186868 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 53.687574 meters # Minimum depth: 641.660326 meters looking forward 0.000000 meters along route # Maximum depth: 641.660326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 601.660326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.846755; longitude = -118.691553; captureRadius = 10; duration = 53; initialDepth = 611.759374; finalDepth = 601.660326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:601.660326 # Seafloor depth:-641.660326 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 53.687574 meters # Minimum depth: 651.759374 meters looking forward 0.000000 meters along route # Maximum depth: 651.759374 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.759374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.846394; longitude = -118.691985; captureRadius = 10; duration = 53; initialDepth = 622.519443; finalDepth = 611.759374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:611.759374 # Seafloor depth:-651.759374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 53.687574 meters # Minimum depth: 662.519443 meters looking forward 0.000000 meters along route # Maximum depth: 662.519443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.519443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.846033; longitude = -118.692417; captureRadius = 10; duration = 53; initialDepth = 634.938682; finalDepth = 622.519443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:622.519443 # Seafloor depth:-662.519443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 53.687574 meters # Minimum depth: 674.938682 meters looking forward 0.000000 meters along route # Maximum depth: 674.938682 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.938682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.845673; longitude = -118.692849; captureRadius = 10; duration = 53; initialDepth = 642.987930; finalDepth = 634.938682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:634.938682 # Seafloor depth:-674.938682 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 90 # Segment length 53.687574 meters # Minimum depth: 682.987930 meters looking forward 0.000000 meters along route # Maximum depth: 682.987930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.987930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.845342; longitude = -118.693245; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 645.204817; finalDepth = 642.987930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:642.98793 # Seafloor depth:-682.987930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 53.687574 meters # Minimum depth: 685.204817 meters looking forward 0.000000 meters along route # Maximum depth: 685.204817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 645.204817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.845222; longitude = -118.693326; captureRadius = 10; duration = 53; initialDepth = 648.275046; finalDepth = 645.204817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:645.204817 # Seafloor depth:-685.204817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 53.687574 meters # Minimum depth: 688.275046 meters looking forward 0.000000 meters along route # Maximum depth: 688.275046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 648.275046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.844810; longitude = -118.693605; captureRadius = 10; duration = 53; initialDepth = 648.772427; finalDepth = 648.275046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:648.275046 # Seafloor depth:-688.275046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 53.687574 meters # Minimum depth: 688.772427 meters looking forward 0.000000 meters along route # Maximum depth: 688.772427 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 648.772427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.844410; longitude = -118.693876; captureRadius = 10; duration = 53; initialDepth = 651.329507; finalDepth = 648.772427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:648.772427 # Seafloor depth:-688.772427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 53.687574 meters # Minimum depth: 691.329507 meters looking forward 0.000000 meters along route # Maximum depth: 691.329507 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 651.329507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.844012; longitude = -118.694145; captureRadius = 10; duration = 53; initialDepth = 653.817031; finalDepth = 651.329507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:651.329507 # Seafloor depth:-691.329507 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 53.687574 meters # Minimum depth: 693.817031 meters looking forward 0.000000 meters along route # Maximum depth: 693.817031 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.817031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.843599; longitude = -118.694425; captureRadius = 10; duration = 53; initialDepth = 657.984174; finalDepth = 653.817031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:653.817031 # Seafloor depth:-693.817031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 53.687574 meters # Minimum depth: 697.984174 meters looking forward 0.000000 meters along route # Maximum depth: 697.984174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 657.984174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.843148; longitude = -118.694730; captureRadius = 10; duration = 53; initialDepth = 661.448890; finalDepth = 657.984174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:657.984174 # Seafloor depth:-697.984174 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 53.687574 meters # Minimum depth: 701.448890 meters looking forward 0.000000 meters along route # Maximum depth: 701.448890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 661.448890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.842735; longitude = -118.695010; captureRadius = 10; duration = 53; initialDepth = 667.127426; finalDepth = 661.448890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:661.44889 # Seafloor depth:-701.448890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 53.687574 meters # Minimum depth: 707.127426 meters looking forward 0.000000 meters along route # Maximum depth: 707.127426 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 667.127426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.842336; longitude = -118.695280; captureRadius = 10; duration = 53; initialDepth = 673.748234; finalDepth = 667.127426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:667.127426 # Seafloor depth:-707.127426 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 53.687574 meters # Minimum depth: 713.748234 meters looking forward 0.000000 meters along route # Maximum depth: 713.748234 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.748234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.841938; longitude = -118.695550; captureRadius = 10; duration = 53; initialDepth = 680.124431; finalDepth = 673.748234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:673.748234 # Seafloor depth:-713.748234 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 53.687574 meters # Minimum depth: 720.124431 meters looking forward 0.000000 meters along route # Maximum depth: 720.124431 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.124431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.841525; longitude = -118.695829; captureRadius = 10; duration = 53; initialDepth = 687.973149; finalDepth = 680.124431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:680.124431 # Seafloor depth:-720.124431 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 53.687574 meters # Minimum depth: 727.973149 meters looking forward 0.000000 meters along route # Maximum depth: 727.973149 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.973149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.841074; longitude = -118.696135; captureRadius = 10; duration = 53; initialDepth = 693.082610; finalDepth = 687.973149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:687.973149 # Seafloor depth:-727.973149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 53.687574 meters # Minimum depth: 733.082610 meters looking forward 0.000000 meters along route # Maximum depth: 733.082610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.082610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.840661; longitude = -118.696414; captureRadius = 10; duration = 53; initialDepth = 699.040903; finalDepth = 693.082610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:693.08261 # Seafloor depth:-733.082610 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 53.687574 meters # Minimum depth: 739.040903 meters looking forward 0.000000 meters along route # Maximum depth: 739.040903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.040903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.840262; longitude = -118.696684; captureRadius = 10; duration = 53; initialDepth = 706.482431; finalDepth = 699.040903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.040903 # Seafloor depth:-739.040903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 53.687574 meters # Minimum depth: 746.482431 meters looking forward 0.000000 meters along route # Maximum depth: 746.482431 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.839863; longitude = -118.696954; captureRadius = 10; duration = 53; initialDepth = 713.233947; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.482431 # Actual altitude: 50 # Commanded vehicle depth:700 # Seafloor depth:-746.482431 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 53.687574 meters # Minimum depth: 753.233947 meters looking forward 0.000000 meters along route # Maximum depth: 753.233947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.839450; longitude = -118.697233; captureRadius = 10; duration = 53; initialDepth = 719.899370; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2339469999999 # Actual altitude: 53.2339469999999 # Commanded vehicle depth:700 # Seafloor depth:-753.233947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.94; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.29; MB_Bottom_Detect_Filter_Max_Range = 212.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 53.687574 meters # Minimum depth: 759.899370 meters looking forward 0.000000 meters along route # Maximum depth: 759.899370 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.838999; longitude = -118.697539; captureRadius = 10; duration = 53; initialDepth = 726.559192; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.89937 # Actual altitude: 59.89937 # Commanded vehicle depth:700 # Seafloor depth:-759.899370 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.60; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.96; MB_Bottom_Detect_Filter_Max_Range = 239.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 53.687574 meters # Minimum depth: 766.559192 meters looking forward 0.000000 meters along route # Maximum depth: 766.559192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.838587; longitude = -118.697818; captureRadius = 10; duration = 53; initialDepth = 730.950788; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.5591920000001 # Actual altitude: 66.5591920000001 # Commanded vehicle depth:700 # Seafloor depth:-766.559192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 266.24; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.62; MB_Bottom_Detect_Filter_Max_Range = 266.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 199.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 53.687574 meters # Minimum depth: 770.950788 meters looking forward 0.000000 meters along route # Maximum depth: 770.950788 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.838188; longitude = -118.698088; captureRadius = 10; duration = 53; initialDepth = 733.237882; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.950788 # Actual altitude: 70.950788 # Commanded vehicle depth:700 # Seafloor depth:-770.950788 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 283.80; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.38; MB_Bottom_Detect_Filter_Max_Range = 283.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 53.687574 meters # Minimum depth: 773.237882 meters looking forward 0.000000 meters along route # Maximum depth: 773.237882 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.837789; longitude = -118.698358; captureRadius = 10; duration = 53; initialDepth = 736.701874; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.237882 # Actual altitude: 73.237882 # Commanded vehicle depth:700 # Seafloor depth:-773.237882 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 292.95; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.30; MB_Bottom_Detect_Filter_Max_Range = 292.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 53.687574 meters # Minimum depth: 776.701874 meters looking forward 0.000000 meters along route # Maximum depth: 776.701874 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.837376; longitude = -118.698638; captureRadius = 10; duration = 53; initialDepth = 742.420632; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.701874 # Actual altitude: 76.701874 # Commanded vehicle depth:700 # Seafloor depth:-776.701874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 306.81; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.68; MB_Bottom_Detect_Filter_Max_Range = 306.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 53.687574 meters # Minimum depth: 782.420632 meters looking forward 0.000000 meters along route # Maximum depth: 782.420632 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.836925; longitude = -118.698943; captureRadius = 10; duration = 53; initialDepth = 747.428944; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.420632 # Actual altitude: 82.420632 # Commanded vehicle depth:700 # Seafloor depth:-782.420632 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 329.68; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.97; MB_Bottom_Detect_Filter_Max_Range = 329.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 53.687574 meters # Minimum depth: 787.428944 meters looking forward 0.000000 meters along route # Maximum depth: 787.428944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.836512; longitude = -118.699223; captureRadius = 10; duration = 53; initialDepth = 752.163772; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.428944 # Actual altitude: 87.428944 # Commanded vehicle depth:700 # Seafloor depth:-787.428944 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 349.72; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.97; MB_Bottom_Detect_Filter_Max_Range = 349.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 53.687574 meters # Minimum depth: 792.163772 meters looking forward 0.000000 meters along route # Maximum depth: 792.163772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.836114; longitude = -118.699492; captureRadius = 10; duration = 53; initialDepth = 755.274828; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.163772 # Actual altitude: 92.163772 # Commanded vehicle depth:700 # Seafloor depth:-792.163772 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 368.66; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.87; MB_Bottom_Detect_Filter_Max_Range = 368.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 53.687574 meters # Minimum depth: 795.274828 meters looking forward 0.000000 meters along route # Maximum depth: 795.274828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.835714; longitude = -118.699763; captureRadius = 10; duration = 53; initialDepth = 757.793396; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.274828 # Actual altitude: 95.274828 # Commanded vehicle depth:700 # Seafloor depth:-795.274828 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 381.10; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.11; MB_Bottom_Detect_Filter_Max_Range = 381.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 53.687574 meters # Minimum depth: 797.793396 meters looking forward 0.000000 meters along route # Maximum depth: 797.793396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.835302; longitude = -118.700042; captureRadius = 10; duration = 53; initialDepth = 759.050973; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.793396 # Actual altitude: 97.793396 # Commanded vehicle depth:700 # Seafloor depth:-797.793396 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 391.17; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.12; MB_Bottom_Detect_Filter_Max_Range = 391.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 53.687574 meters # Minimum depth: 799.050973 meters looking forward 0.000000 meters along route # Maximum depth: 799.050973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.834851; longitude = -118.700347; captureRadius = 10; duration = 53; initialDepth = 761.099409; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.050973 # Actual altitude: 99.050973 # Commanded vehicle depth:700 # Seafloor depth:-799.050973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 396.20; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.62; MB_Bottom_Detect_Filter_Max_Range = 396.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 53.687574 meters # Minimum depth: 801.099409 meters looking forward 0.000000 meters along route # Maximum depth: 801.099409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.834438; longitude = -118.700627; captureRadius = 10; duration = 53; initialDepth = 763.143932; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 101.099409 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-801.099409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 53.687574 meters # Minimum depth: 803.143932 meters looking forward 0.000000 meters along route # Maximum depth: 803.143932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.834039; longitude = -118.700896; captureRadius = 10; duration = 53; initialDepth = 765.329100; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 103.143932 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-803.143932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 53.687574 meters # Minimum depth: 805.329100 meters looking forward 0.000000 meters along route # Maximum depth: 805.329100 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.833589; longitude = -118.701202; captureRadius = 10; duration = 53; initialDepth = 766.581894; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.3291 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-805.329100 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 89 # Segment length 53.687574 meters # Minimum depth: 806.581894 meters looking forward 0.000000 meters along route # Maximum depth: 806.581894 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.833108; longitude = -118.701527; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 765.280433; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.581894 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-806.581894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 805.280433 meters looking forward 0.000000 meters along route # Maximum depth: 805.280433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.833408; longitude = -118.701724; captureRadius = 10; duration = 53; initialDepth = 764.087262; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.581894 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-805.280433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 804.087262 meters looking forward 0.000000 meters along route # Maximum depth: 804.087262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.833876; longitude = -118.702031; captureRadius = 10; duration = 53; initialDepth = 763.138656; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.280433 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-804.087262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 803.138656 meters looking forward 0.000000 meters along route # Maximum depth: 803.138656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.834310; longitude = -118.702316; captureRadius = 10; duration = 53; initialDepth = 763.875381; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 104.087262 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-803.138656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 803.875381 meters looking forward 0.000000 meters along route # Maximum depth: 803.875381 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.834761; longitude = -118.702612; captureRadius = 10; duration = 53; initialDepth = 763.805649; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 103.875381 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-803.875381 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 803.805649 meters looking forward 0.000000 meters along route # Maximum depth: 803.805649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.835212; longitude = -118.702908; captureRadius = 10; duration = 53; initialDepth = 764.666797; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 103.875381 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-803.805649 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 804.666797 meters looking forward 0.000000 meters along route # Maximum depth: 804.666797 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.835686; longitude = -118.703220; captureRadius = 10; duration = 53; initialDepth = 766.109044; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 104.666797 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-804.666797 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 806.109044 meters looking forward 0.000000 meters along route # Maximum depth: 806.109044 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.836114; longitude = -118.703500; captureRadius = 10; duration = 53; initialDepth = 767.311038; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.109044 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-806.109044 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 807.311038 meters looking forward 0.000000 meters along route # Maximum depth: 807.311038 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.836565; longitude = -118.703796; captureRadius = 10; duration = 53; initialDepth = 767.401224; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.311038 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-807.311038 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 807.401224 meters looking forward 0.000000 meters along route # Maximum depth: 807.401224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.837015; longitude = -118.704093; captureRadius = 10; duration = 53; initialDepth = 765.951392; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.401224 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-807.401224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 805.951392 meters looking forward 0.000000 meters along route # Maximum depth: 805.951392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.837496; longitude = -118.704408; captureRadius = 10; duration = 53; initialDepth = 765.448515; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.401224 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-805.951392 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 805.448515 meters looking forward 0.000000 meters along route # Maximum depth: 805.448515 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.837917; longitude = -118.704685; captureRadius = 10; duration = 53; initialDepth = 765.398151; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.951392 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-805.448515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 805.398151 meters looking forward 0.000000 meters along route # Maximum depth: 805.398151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.838318; longitude = -118.704948; captureRadius = 10; duration = 53; initialDepth = 764.841092; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.448515 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-805.398151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 804.841092 meters looking forward 0.000000 meters along route # Maximum depth: 804.841092 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.838729; longitude = -118.705217; captureRadius = 10; duration = 53; initialDepth = 764.269728; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.398151 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-804.841092 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 804.269728 meters looking forward 0.000000 meters along route # Maximum depth: 804.269728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.839141; longitude = -118.705488; captureRadius = 10; duration = 53; initialDepth = 763.449499; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 104.841092 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-804.269728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 803.449499 meters looking forward 0.000000 meters along route # Maximum depth: 803.449499 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.839541; longitude = -118.705750; captureRadius = 10; duration = 53; initialDepth = 758.435595; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 104.269728 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-803.449499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 798.435595 meters looking forward 0.000000 meters along route # Maximum depth: 798.435595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.839991; longitude = -118.706046; captureRadius = 10; duration = 53; initialDepth = 744.370971; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 103.449499 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-798.435595 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 784.370971 meters looking forward 0.000000 meters along route # Maximum depth: 784.370971 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.840457; longitude = -118.706352; captureRadius = 10; duration = 53; initialDepth = 739.221202; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.435595 # Actual altitude: 98.435595 # Commanded vehicle depth:700 # Seafloor depth:-784.370971 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 393.74; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.37; MB_Bottom_Detect_Filter_Max_Range = 393.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 779.221202 meters looking forward 0.000000 meters along route # Maximum depth: 779.221202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.840893; longitude = -118.706639; captureRadius = 10; duration = 53; initialDepth = 731.934003; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.3709710000001 # Actual altitude: 84.3709710000001 # Commanded vehicle depth:700 # Seafloor depth:-779.221202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 337.48; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.75; MB_Bottom_Detect_Filter_Max_Range = 337.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 253.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 771.934003 meters looking forward 0.000000 meters along route # Maximum depth: 771.934003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.841344; longitude = -118.706935; captureRadius = 10; duration = 53; initialDepth = 725.518853; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.2212019999999 # Actual altitude: 79.2212019999999 # Commanded vehicle depth:700 # Seafloor depth:-771.934003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 316.88; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.69; MB_Bottom_Detect_Filter_Max_Range = 316.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 765.518853 meters looking forward 0.000000 meters along route # Maximum depth: 765.518853 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.841795; longitude = -118.707231; captureRadius = 10; duration = 53; initialDepth = 719.206722; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.934003 # Actual altitude: 71.934003 # Commanded vehicle depth:700 # Seafloor depth:-765.518853 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 287.74; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.77; MB_Bottom_Detect_Filter_Max_Range = 287.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 759.206722 meters looking forward 0.000000 meters along route # Maximum depth: 759.206722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.842267; longitude = -118.707541; captureRadius = 10; duration = 53; initialDepth = 717.212404; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.518853 # Actual altitude: 65.518853 # Commanded vehicle depth:700 # Seafloor depth:-759.206722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.08; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.21; MB_Bottom_Detect_Filter_Max_Range = 262.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 196.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 757.212404 meters looking forward 0.000000 meters along route # Maximum depth: 757.212404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.842697; longitude = -118.707823; captureRadius = 10; duration = 53; initialDepth = 716.042317; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.206722 # Actual altitude: 59.206722 # Commanded vehicle depth:700 # Seafloor depth:-757.212404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.83; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.68; MB_Bottom_Detect_Filter_Max_Range = 236.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 756.042317 meters looking forward 0.000000 meters along route # Maximum depth: 756.042317 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.843148; longitude = -118.708119; captureRadius = 10; duration = 53; initialDepth = 716.325219; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.212404 # Actual altitude: 57.212404 # Commanded vehicle depth:700 # Seafloor depth:-756.042317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.85; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.88; MB_Bottom_Detect_Filter_Max_Range = 228.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 756.325219 meters looking forward 0.000000 meters along route # Maximum depth: 756.325219 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.843599; longitude = -118.708415; captureRadius = 10; duration = 53; initialDepth = 716.983476; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.3252189999999 # Actual altitude: 56.3252189999999 # Commanded vehicle depth:700 # Seafloor depth:-756.325219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.30; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.53; MB_Bottom_Detect_Filter_Max_Range = 225.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 756.983476 meters looking forward 0.000000 meters along route # Maximum depth: 756.983476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.844077; longitude = -118.708729; captureRadius = 10; duration = 53; initialDepth = 717.983922; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.983476 # Actual altitude: 56.983476 # Commanded vehicle depth:700 # Seafloor depth:-756.983476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.93; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.79; MB_Bottom_Detect_Filter_Max_Range = 227.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 757.983922 meters looking forward 0.000000 meters along route # Maximum depth: 757.983922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.844501; longitude = -118.709007; captureRadius = 10; duration = 53; initialDepth = 717.622789; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.983922 # Actual altitude: 57.983922 # Commanded vehicle depth:700 # Seafloor depth:-757.983922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.94; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.19; MB_Bottom_Detect_Filter_Max_Range = 231.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 757.622789 meters looking forward 0.000000 meters along route # Maximum depth: 757.622789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.844900; longitude = -118.709269; captureRadius = 10; duration = 53; initialDepth = 716.197305; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.983922 # Actual altitude: 57.983922 # Commanded vehicle depth:700 # Seafloor depth:-757.622789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.94; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.19; MB_Bottom_Detect_Filter_Max_Range = 231.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 756.197305 meters looking forward 0.000000 meters along route # Maximum depth: 756.197305 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.845312; longitude = -118.709540; captureRadius = 10; duration = 53; initialDepth = 712.676582; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.622789 # Actual altitude: 57.622789 # Commanded vehicle depth:700 # Seafloor depth:-756.197305 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.49; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.05; MB_Bottom_Detect_Filter_Max_Range = 230.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 752.676582 meters looking forward 0.000000 meters along route # Maximum depth: 752.676582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.845722; longitude = -118.709809; captureRadius = 10; duration = 53; initialDepth = 708.903199; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.197305 # Actual altitude: 56.197305 # Commanded vehicle depth:700 # Seafloor depth:-752.676582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.79; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.48; MB_Bottom_Detect_Filter_Max_Range = 224.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 748.903199 meters looking forward 0.000000 meters along route # Maximum depth: 748.903199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.846124; longitude = -118.710073; captureRadius = 10; duration = 53; initialDepth = 704.188441; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6765820000001 # Actual altitude: 52.6765820000001 # Commanded vehicle depth:700 # Seafloor depth:-748.903199 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.71; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.07; MB_Bottom_Detect_Filter_Max_Range = 210.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 744.188441 meters looking forward 0.000000 meters along route # Maximum depth: 744.188441 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.846575; longitude = -118.710369; captureRadius = 10; duration = 53; initialDepth = 699.470543; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.903199 # Actual altitude: 50 # Commanded vehicle depth:700 # Seafloor depth:-744.188441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 739.470543 meters looking forward 0.000000 meters along route # Maximum depth: 739.470543 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.470543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847039; longitude = -118.710673; captureRadius = 10; duration = 53; initialDepth = 695.628310; finalDepth = 699.470543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.188441 # Actual altitude: 50 # Commanded vehicle depth:699.470543 # Seafloor depth:-739.470543 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 735.628310 meters looking forward 0.000000 meters along route # Maximum depth: 735.628310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.628310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847476; longitude = -118.710961; captureRadius = 10; duration = 53; initialDepth = 691.982158; finalDepth = 695.628310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:695.62831 # Seafloor depth:-735.628310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 731.982158 meters looking forward 0.000000 meters along route # Maximum depth: 731.982158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.982158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847927; longitude = -118.711257; captureRadius = 10; duration = 53; initialDepth = 688.866045; finalDepth = 691.982158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:691.982158 # Seafloor depth:-731.982158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 728.866045 meters looking forward 0.000000 meters along route # Maximum depth: 728.866045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.866045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848378; longitude = -118.711553; captureRadius = 10; duration = 53; initialDepth = 685.394193; finalDepth = 688.866045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.866045 # Seafloor depth:-728.866045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 725.394193 meters looking forward 0.000000 meters along route # Maximum depth: 725.394193 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.394193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848849; longitude = -118.711862; captureRadius = 10; duration = 53; initialDepth = 682.984364; finalDepth = 685.394193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:685.394193 # Seafloor depth:-725.394193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 722.984364 meters looking forward 0.000000 meters along route # Maximum depth: 722.984364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.984364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849280; longitude = -118.712145; captureRadius = 10; duration = 53; initialDepth = 680.210968; finalDepth = 682.984364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:682.984364 # Seafloor depth:-722.984364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 720.210968 meters looking forward 0.000000 meters along route # Maximum depth: 720.210968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.210968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849731; longitude = -118.712441; captureRadius = 10; duration = 53; initialDepth = 678.175244; finalDepth = 680.210968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:680.210968 # Seafloor depth:-720.210968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 718.175244 meters looking forward 0.000000 meters along route # Maximum depth: 718.175244 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.175244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850182; longitude = -118.712737; captureRadius = 10; duration = 53; initialDepth = 676.443108; finalDepth = 678.175244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:678.175244 # Seafloor depth:-718.175244 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 716.443108 meters looking forward 0.000000 meters along route # Maximum depth: 716.443108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.443108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850658; longitude = -118.713050; captureRadius = 10; duration = 53; initialDepth = 674.699930; finalDepth = 676.443108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:676.443108 # Seafloor depth:-716.443108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 714.699930 meters looking forward 0.000000 meters along route # Maximum depth: 714.699930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.699930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851084; longitude = -118.713329; captureRadius = 10; duration = 53; initialDepth = 673.618327; finalDepth = 674.699930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:674.69993 # Seafloor depth:-714.699930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 713.618327 meters looking forward 0.000000 meters along route # Maximum depth: 713.618327 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.618327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851535; longitude = -118.713625; captureRadius = 10; duration = 53; initialDepth = 672.372640; finalDepth = 673.618327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:673.618327 # Seafloor depth:-713.618327 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 712.372640 meters looking forward 0.000000 meters along route # Maximum depth: 712.372640 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.372640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851986; longitude = -118.713921; captureRadius = 10; duration = 53; initialDepth = 671.848376; finalDepth = 672.372640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:672.37264 # Seafloor depth:-712.372640 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 711.848376 meters looking forward 0.000000 meters along route # Maximum depth: 711.848376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.848376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852468; longitude = -118.714238; captureRadius = 10; duration = 53; initialDepth = 671.297377; finalDepth = 671.848376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:671.848376 # Seafloor depth:-711.848376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 711.297377 meters looking forward 0.000000 meters along route # Maximum depth: 711.297377 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.297377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852887; longitude = -118.714513; captureRadius = 10; duration = 53; initialDepth = 670.440060; finalDepth = 671.297377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:671.297377 # Seafloor depth:-711.297377 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 53.687574 meters # Minimum depth: 710.440060 meters looking forward 0.000000 meters along route # Maximum depth: 710.440060 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 670.440060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853291; longitude = -118.714778; captureRadius = 10; duration = 53; initialDepth = 669.085236; finalDepth = 670.440060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:670.44006 # Seafloor depth:-710.440060 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 88 # Segment length 53.687574 meters # Minimum depth: 709.085236 meters looking forward 0.000000 meters along route # Maximum depth: 709.085236 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 669.085236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853729; longitude = -118.715066; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 666.968467; finalDepth = 669.085236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:669.085236 # Seafloor depth:-709.085236 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 706.968467 meters looking forward 0.000000 meters along route # Maximum depth: 706.968467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 666.968467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854060; longitude = -118.715115; captureRadius = 10; duration = 53; initialDepth = 663.161025; finalDepth = 666.968467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:666.968467 # Seafloor depth:-706.968467 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 703.161025 meters looking forward 0.000000 meters along route # Maximum depth: 703.161025 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 663.161025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854511; longitude = -118.715182; captureRadius = 10; duration = 53; initialDepth = 658.748666; finalDepth = 663.161025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:663.161025 # Seafloor depth:-703.161025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 698.748666 meters looking forward 0.000000 meters along route # Maximum depth: 698.748666 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 658.748666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854962; longitude = -118.715249; captureRadius = 10; duration = 53; initialDepth = 654.168309; finalDepth = 658.748666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:658.748666 # Seafloor depth:-698.748666 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 694.168309 meters looking forward 0.000000 meters along route # Maximum depth: 694.168309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 654.168309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855412; longitude = -118.715316; captureRadius = 10; duration = 53; initialDepth = 648.628936; finalDepth = 654.168309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:654.168309 # Seafloor depth:-694.168309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 688.628936 meters looking forward 0.000000 meters along route # Maximum depth: 688.628936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 648.628936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855863; longitude = -118.715383; captureRadius = 10; duration = 53; initialDepth = 642.882031; finalDepth = 648.628936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:648.628936 # Seafloor depth:-688.628936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 682.882031 meters looking forward 0.000000 meters along route # Maximum depth: 682.882031 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.882031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856314; longitude = -118.715450; captureRadius = 10; duration = 53; initialDepth = 637.161226; finalDepth = 642.882031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:642.882031 # Seafloor depth:-682.882031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 677.161226 meters looking forward 0.000000 meters along route # Maximum depth: 677.161226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 637.161226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856765; longitude = -118.715517; captureRadius = 10; duration = 53; initialDepth = 630.046748; finalDepth = 637.161226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:637.161226 # Seafloor depth:-677.161226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 670.046748 meters looking forward 0.000000 meters along route # Maximum depth: 670.046748 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.046748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857216; longitude = -118.715584; captureRadius = 10; duration = 53; initialDepth = 622.845086; finalDepth = 630.046748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:630.046748 # Seafloor depth:-670.046748 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 662.845086 meters looking forward 0.000000 meters along route # Maximum depth: 662.845086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.845086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857667; longitude = -118.715651; captureRadius = 10; duration = 53; initialDepth = 617.428538; finalDepth = 622.845086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:622.845086 # Seafloor depth:-662.845086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 657.428538 meters looking forward 0.000000 meters along route # Maximum depth: 657.428538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.428538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858118; longitude = -118.715718; captureRadius = 10; duration = 53; initialDepth = 613.638722; finalDepth = 617.428538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:617.428538 # Seafloor depth:-657.428538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 653.638722 meters looking forward 0.000000 meters along route # Maximum depth: 653.638722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 613.638722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858569; longitude = -118.715785; captureRadius = 10; duration = 53; initialDepth = 612.141215; finalDepth = 613.638722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:613.638722 # Seafloor depth:-653.638722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 652.141215 meters looking forward 0.000000 meters along route # Maximum depth: 652.141215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.141215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859020; longitude = -118.715852; captureRadius = 10; duration = 53; initialDepth = 612.303855; finalDepth = 612.141215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:612.141215 # Seafloor depth:-652.141215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 652.303855 meters looking forward 0.000000 meters along route # Maximum depth: 652.303855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.303855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859471; longitude = -118.715918; captureRadius = 10; duration = 53; initialDepth = 613.045979; finalDepth = 612.303855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:612.303855 # Seafloor depth:-652.303855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 653.045979 meters looking forward 0.000000 meters along route # Maximum depth: 653.045979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 613.045979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859921; longitude = -118.715985; captureRadius = 10; duration = 53; initialDepth = 615.050069; finalDepth = 613.045979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:613.045979 # Seafloor depth:-653.045979 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 655.050069 meters looking forward 0.000000 meters along route # Maximum depth: 655.050069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 615.050069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860372; longitude = -118.716052; captureRadius = 10; duration = 53; initialDepth = 618.515400; finalDepth = 615.050069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:615.050069 # Seafloor depth:-655.050069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 658.515400 meters looking forward 0.000000 meters along route # Maximum depth: 658.515400 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 618.515400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860823; longitude = -118.716119; captureRadius = 10; duration = 53; initialDepth = 622.310901; finalDepth = 618.515400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:618.5154 # Seafloor depth:-658.515400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 662.310901 meters looking forward 0.000000 meters along route # Maximum depth: 662.310901 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.310901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861274; longitude = -118.716186; captureRadius = 10; duration = 53; initialDepth = 624.573330; finalDepth = 622.310901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:622.310901 # Seafloor depth:-662.310901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 664.573330 meters looking forward 0.000000 meters along route # Maximum depth: 664.573330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.573330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861725; longitude = -118.716253; captureRadius = 10; duration = 53; initialDepth = 625.020063; finalDepth = 624.573330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:624.57333 # Seafloor depth:-664.573330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 665.020063 meters looking forward 0.000000 meters along route # Maximum depth: 665.020063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 625.020063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862176; longitude = -118.716320; captureRadius = 10; duration = 53; initialDepth = 624.324169; finalDepth = 625.020063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:625.020063 # Seafloor depth:-665.020063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 664.324169 meters looking forward 0.000000 meters along route # Maximum depth: 664.324169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.324169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862627; longitude = -118.716387; captureRadius = 10; duration = 53; initialDepth = 622.330268; finalDepth = 624.324169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:624.324169 # Seafloor depth:-664.324169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 662.330268 meters looking forward 0.000000 meters along route # Maximum depth: 662.330268 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.330268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863078; longitude = -118.716454; captureRadius = 10; duration = 53; initialDepth = 619.490865; finalDepth = 622.330268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:622.330268 # Seafloor depth:-662.330268 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 659.490865 meters looking forward 0.000000 meters along route # Maximum depth: 659.490865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.490865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863529; longitude = -118.716521; captureRadius = 10; duration = 53; initialDepth = 616.403707; finalDepth = 619.490865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.490865 # Seafloor depth:-659.490865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 656.403707 meters looking forward 0.000000 meters along route # Maximum depth: 656.403707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.403707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863980; longitude = -118.716588; captureRadius = 10; duration = 53; initialDepth = 613.356416; finalDepth = 616.403707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:616.403707 # Seafloor depth:-656.403707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 653.356416 meters looking forward 0.000000 meters along route # Maximum depth: 653.356416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 613.356416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864431; longitude = -118.716655; captureRadius = 10; duration = 53; initialDepth = 608.906158; finalDepth = 613.356416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:613.356416 # Seafloor depth:-653.356416 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 648.906158 meters looking forward 0.000000 meters along route # Maximum depth: 648.906158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.906158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864881; longitude = -118.716722; captureRadius = 10; duration = 53; initialDepth = 603.900076; finalDepth = 608.906158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.906158 # Seafloor depth:-648.906158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 643.900076 meters looking forward 0.000000 meters along route # Maximum depth: 643.900076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.900076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865332; longitude = -118.716789; captureRadius = 10; duration = 53; initialDepth = 597.228304; finalDepth = 603.900076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:603.900076 # Seafloor depth:-643.900076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 637.228304 meters looking forward 0.000000 meters along route # Maximum depth: 637.228304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 597.228304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865783; longitude = -118.716856; captureRadius = 10; duration = 53; initialDepth = 591.363128; finalDepth = 597.228304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:597.228304 # Seafloor depth:-637.228304 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 631.363128 meters looking forward 0.000000 meters along route # Maximum depth: 631.363128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.363128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866234; longitude = -118.716923; captureRadius = 10; duration = 53; initialDepth = 587.906084; finalDepth = 591.363128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.363128 # Seafloor depth:-631.363128 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 627.906084 meters looking forward 0.000000 meters along route # Maximum depth: 627.906084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.906084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866685; longitude = -118.716990; captureRadius = 10; duration = 53; initialDepth = 583.671850; finalDepth = 587.906084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.906084 # Seafloor depth:-627.906084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 623.671850 meters looking forward 0.000000 meters along route # Maximum depth: 623.671850 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.671850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867136; longitude = -118.717057; captureRadius = 10; duration = 53; initialDepth = 579.858608; finalDepth = 583.671850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:583.67185 # Seafloor depth:-623.671850 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 619.858608 meters looking forward 0.000000 meters along route # Maximum depth: 619.858608 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.858608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867587; longitude = -118.717123; captureRadius = 10; duration = 53; initialDepth = 574.708397; finalDepth = 579.858608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.858608 # Seafloor depth:-619.858608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 614.708397 meters looking forward 0.000000 meters along route # Maximum depth: 614.708397 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.708397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868038; longitude = -118.717190; captureRadius = 10; duration = 53; initialDepth = 570.943227; finalDepth = 574.708397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.708397 # Seafloor depth:-614.708397 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 610.943227 meters looking forward 0.000000 meters along route # Maximum depth: 610.943227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.943227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868489; longitude = -118.717257; captureRadius = 10; duration = 53; initialDepth = 567.225864; finalDepth = 570.943227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:570.943227 # Seafloor depth:-610.943227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 607.225864 meters looking forward 0.000000 meters along route # Maximum depth: 607.225864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 567.225864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868940; longitude = -118.717324; captureRadius = 10; duration = 53; initialDepth = 564.318338; finalDepth = 567.225864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:567.225864 # Seafloor depth:-607.225864 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 604.318338 meters looking forward 0.000000 meters along route # Maximum depth: 604.318338 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.318338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869390; longitude = -118.717391; captureRadius = 10; duration = 53; initialDepth = 561.328075; finalDepth = 564.318338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:564.318338 # Seafloor depth:-604.318338 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 601.328075 meters looking forward 0.000000 meters along route # Maximum depth: 601.328075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.328075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869841; longitude = -118.717458; captureRadius = 10; duration = 53; initialDepth = 559.155424; finalDepth = 561.328075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.328075 # Seafloor depth:-601.328075 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 599.155424 meters looking forward 0.000000 meters along route # Maximum depth: 599.155424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.155424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870292; longitude = -118.717525; captureRadius = 10; duration = 53; initialDepth = 557.928107; finalDepth = 559.155424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.155424 # Seafloor depth:-599.155424 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 597.928107 meters looking forward 0.000000 meters along route # Maximum depth: 597.928107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.928107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870743; longitude = -118.717592; captureRadius = 10; duration = 53; initialDepth = 555.863281; finalDepth = 557.928107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.928107 # Seafloor depth:-597.928107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 595.863281 meters looking forward 0.000000 meters along route # Maximum depth: 595.863281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.863281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871194; longitude = -118.717659; captureRadius = 10; duration = 53; initialDepth = 554.853387; finalDepth = 555.863281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:555.863281 # Seafloor depth:-595.863281 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 594.853387 meters looking forward 0.000000 meters along route # Maximum depth: 594.853387 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.853387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871645; longitude = -118.717726; captureRadius = 10; duration = 53; initialDepth = 553.672592; finalDepth = 554.853387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.853387 # Seafloor depth:-594.853387 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 593.672592 meters looking forward 0.000000 meters along route # Maximum depth: 593.672592 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.672592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872096; longitude = -118.717793; captureRadius = 10; duration = 53; initialDepth = 552.925360; finalDepth = 553.672592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.672592 # Seafloor depth:-593.672592 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 592.925360 meters looking forward 0.000000 meters along route # Maximum depth: 592.925360 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.925360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872547; longitude = -118.717860; captureRadius = 10; duration = 53; initialDepth = 552.178887; finalDepth = 552.925360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.92536 # Seafloor depth:-592.925360 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 592.178887 meters looking forward 0.000000 meters along route # Maximum depth: 592.178887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.178887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872998; longitude = -118.717927; captureRadius = 10; duration = 53; initialDepth = 551.689638; finalDepth = 552.178887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.178887 # Seafloor depth:-592.178887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 591.689638 meters looking forward 0.000000 meters along route # Maximum depth: 591.689638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.689638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873449; longitude = -118.717994; captureRadius = 10; duration = 53; initialDepth = 550.896203; finalDepth = 551.689638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.689638 # Seafloor depth:-591.689638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 590.896203 meters looking forward 0.000000 meters along route # Maximum depth: 590.896203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.896203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873900; longitude = -118.718061; captureRadius = 10; duration = 53; initialDepth = 549.781796; finalDepth = 550.896203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:550.896203 # Seafloor depth:-590.896203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 53.687574 meters # Minimum depth: 589.781796 meters looking forward 0.000000 meters along route # Maximum depth: 589.781796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.781796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874350; longitude = -118.718128; captureRadius = 10; duration = 53; initialDepth = 547.792664; finalDepth = 549.781796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:549.781796 # Seafloor depth:-589.781796 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 87 # Segment length 53.687574 meters # Minimum depth: 587.792664 meters looking forward 0.000000 meters along route # Maximum depth: 587.792664 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.792664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874831; longitude = -118.718199; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 546.623459; finalDepth = 547.792664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.792664 # Seafloor depth:-587.792664 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 586.623459 meters looking forward 0.000000 meters along route # Maximum depth: 586.623459 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.623459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874905; longitude = -118.718019; captureRadius = 10; duration = 53; initialDepth = 543.474385; finalDepth = 546.623459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:546.623459 # Seafloor depth:-586.623459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 583.474385 meters looking forward 0.000000 meters along route # Maximum depth: 583.474385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.474385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875128; longitude = -118.717479; captureRadius = 10; duration = 53; initialDepth = 542.692560; finalDepth = 543.474385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.474385 # Seafloor depth:-583.474385 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 582.692560 meters looking forward 0.000000 meters along route # Maximum depth: 582.692560 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.692560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875351; longitude = -118.716939; captureRadius = 10; duration = 53; initialDepth = 540.872500; finalDepth = 542.692560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.69256 # Seafloor depth:-582.692560 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 580.872500 meters looking forward 0.000000 meters along route # Maximum depth: 580.872500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.872500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875573; longitude = -118.716399; captureRadius = 10; duration = 53; initialDepth = 537.565299; finalDepth = 540.872500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.8725 # Seafloor depth:-580.872500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 577.565299 meters looking forward 0.000000 meters along route # Maximum depth: 577.565299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.565299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875796; longitude = -118.715859; captureRadius = 10; duration = 53; initialDepth = 535.018428; finalDepth = 537.565299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.565299 # Seafloor depth:-577.565299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 575.018428 meters looking forward 0.000000 meters along route # Maximum depth: 575.018428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.018428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876019; longitude = -118.715319; captureRadius = 10; duration = 53; initialDepth = 533.286357; finalDepth = 535.018428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:535.018428 # Seafloor depth:-575.018428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 573.286357 meters looking forward 0.000000 meters along route # Maximum depth: 573.286357 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.286357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876244; longitude = -118.714772; captureRadius = 10; duration = 53; initialDepth = 534.160123; finalDepth = 533.286357; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:533.286357 # Seafloor depth:-573.286357 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 574.160123 meters looking forward 0.000000 meters along route # Maximum depth: 574.160123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.160123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876464; longitude = -118.714238; captureRadius = 10; duration = 53; initialDepth = 537.872547; finalDepth = 534.160123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.160123 # Seafloor depth:-574.160123 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 577.872547 meters looking forward 0.000000 meters along route # Maximum depth: 577.872547 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.872547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876695; longitude = -118.713679; captureRadius = 10; duration = 53; initialDepth = 540.915091; finalDepth = 537.872547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.872547 # Seafloor depth:-577.872547 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 580.915091 meters looking forward 0.000000 meters along route # Maximum depth: 580.915091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.915091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876910; longitude = -118.713158; captureRadius = 10; duration = 53; initialDepth = 541.497923; finalDepth = 540.915091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.915091 # Seafloor depth:-580.915091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 581.497923 meters looking forward 0.000000 meters along route # Maximum depth: 581.497923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.497923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877146; longitude = -118.712585; captureRadius = 10; duration = 53; initialDepth = 541.335747; finalDepth = 541.497923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.497923 # Seafloor depth:-581.497923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 581.335747 meters looking forward 0.000000 meters along route # Maximum depth: 581.335747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.335747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877355; longitude = -118.712078; captureRadius = 10; duration = 53; initialDepth = 541.429637; finalDepth = 541.335747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.335747 # Seafloor depth:-581.335747 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 581.429637 meters looking forward 0.000000 meters along route # Maximum depth: 581.429637 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.429637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877597; longitude = -118.711492; captureRadius = 10; duration = 53; initialDepth = 543.720603; finalDepth = 541.429637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.429637 # Seafloor depth:-581.429637 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 583.720603 meters looking forward 0.000000 meters along route # Maximum depth: 583.720603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.720603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877801; longitude = -118.710997; captureRadius = 10; duration = 53; initialDepth = 548.034352; finalDepth = 543.720603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.720603 # Seafloor depth:-583.720603 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 588.034352 meters looking forward 0.000000 meters along route # Maximum depth: 588.034352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.034352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878024; longitude = -118.710457; captureRadius = 10; duration = 53; initialDepth = 552.416116; finalDepth = 548.034352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:548.034352 # Seafloor depth:-588.034352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 592.416116 meters looking forward 0.000000 meters along route # Maximum depth: 592.416116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.416116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878246; longitude = -118.709917; captureRadius = 10; duration = 53; initialDepth = 556.158994; finalDepth = 552.416116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.416116 # Seafloor depth:-592.416116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 596.158994 meters looking forward 0.000000 meters along route # Maximum depth: 596.158994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.158994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878469; longitude = -118.709377; captureRadius = 10; duration = 53; initialDepth = 562.468488; finalDepth = 556.158994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.158994 # Seafloor depth:-596.158994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 602.468488 meters looking forward 0.000000 meters along route # Maximum depth: 602.468488 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.468488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878692; longitude = -118.708837; captureRadius = 10; duration = 53; initialDepth = 563.757805; finalDepth = 562.468488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:562.468488 # Seafloor depth:-602.468488 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 603.757805 meters looking forward 0.000000 meters along route # Maximum depth: 603.757805 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.757805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878915; longitude = -118.708297; captureRadius = 10; duration = 53; initialDepth = 561.068126; finalDepth = 563.757805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.757805 # Seafloor depth:-603.757805 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 601.068126 meters looking forward 0.000000 meters along route # Maximum depth: 601.068126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.068126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879137; longitude = -118.707757; captureRadius = 10; duration = 53; initialDepth = 548.738763; finalDepth = 561.068126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.068126 # Seafloor depth:-601.068126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 588.738763 meters looking forward 0.000000 meters along route # Maximum depth: 588.738763 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.738763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879360; longitude = -118.707217; captureRadius = 10; duration = 53; initialDepth = 527.812203; finalDepth = 548.738763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:548.738763 # Seafloor depth:-588.738763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 567.812203 meters looking forward 0.000000 meters along route # Maximum depth: 567.812203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.812203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879583; longitude = -118.706676; captureRadius = 10; duration = 53; initialDepth = 513.611604; finalDepth = 527.812203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:527.812203 # Seafloor depth:-567.812203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 553.611604 meters looking forward 0.000000 meters along route # Maximum depth: 553.611604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.611604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879806; longitude = -118.706136; captureRadius = 10; duration = 53; initialDepth = 506.969225; finalDepth = 513.611604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.611604 # Seafloor depth:-553.611604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 546.969225 meters looking forward 0.000000 meters along route # Maximum depth: 546.969225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.969225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880032; longitude = -118.705588; captureRadius = 10; duration = 53; initialDepth = 505.258074; finalDepth = 506.969225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.969225 # Seafloor depth:-546.969225 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 545.258074 meters looking forward 0.000000 meters along route # Maximum depth: 545.258074 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.258074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880251; longitude = -118.705056; captureRadius = 10; duration = 53; initialDepth = 502.549742; finalDepth = 505.258074; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.258074 # Seafloor depth:-545.258074 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 542.549742 meters looking forward 0.000000 meters along route # Maximum depth: 542.549742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.549742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880483; longitude = -118.704494; captureRadius = 10; duration = 53; initialDepth = 500.720041; finalDepth = 502.549742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:502.549742 # Seafloor depth:-542.549742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 540.720041 meters looking forward 0.000000 meters along route # Maximum depth: 540.720041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.720041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880697; longitude = -118.703976; captureRadius = 10; duration = 53; initialDepth = 498.331761; finalDepth = 500.720041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.720041 # Seafloor depth:-540.720041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 538.331761 meters looking forward 0.000000 meters along route # Maximum depth: 538.331761 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.331761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880934; longitude = -118.703401; captureRadius = 10; duration = 53; initialDepth = 498.109418; finalDepth = 498.331761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.331761 # Seafloor depth:-538.331761 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 538.109418 meters looking forward 0.000000 meters along route # Maximum depth: 538.109418 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.109418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881142; longitude = -118.702895; captureRadius = 10; duration = 53; initialDepth = 500.287111; finalDepth = 498.109418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.109418 # Seafloor depth:-538.109418 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 540.287111 meters looking forward 0.000000 meters along route # Maximum depth: 540.287111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.287111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881385; longitude = -118.702307; captureRadius = 10; duration = 53; initialDepth = 502.518088; finalDepth = 500.287111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.287111 # Seafloor depth:-540.287111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 542.518088 meters looking forward 0.000000 meters along route # Maximum depth: 542.518088 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.518088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881588; longitude = -118.701815; captureRadius = 10; duration = 53; initialDepth = 503.154925; finalDepth = 502.518088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:502.518088 # Seafloor depth:-542.518088 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 543.154925 meters looking forward 0.000000 meters along route # Maximum depth: 543.154925 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.154925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881810; longitude = -118.701275; captureRadius = 10; duration = 53; initialDepth = 506.580161; finalDepth = 503.154925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.154925 # Seafloor depth:-543.154925 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 53.687574 meters # Minimum depth: 546.580161 meters looking forward 0.000000 meters along route # Maximum depth: 546.580161 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.580161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882016; longitude = -118.700777; captureRadius = 10; duration = 53; initialDepth = 506.114059; finalDepth = 506.580161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.580161 # Seafloor depth:-546.580161 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 86 # Segment length 53.687574 meters # Minimum depth: 546.114059 meters looking forward 0.000000 meters along route # Maximum depth: 546.114059 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.114059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882226; longitude = -118.700267; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 507.451963; finalDepth = 506.114059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.114059 # Seafloor depth:-546.114059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 53.687574 meters # Minimum depth: 547.451963 meters looking forward 0.000000 meters along route # Maximum depth: 547.451963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.451963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882106; longitude = -118.700224; captureRadius = 10; duration = 53; initialDepth = 509.673196; finalDepth = 507.451963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:507.451963 # Seafloor depth:-547.451963 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 53.687574 meters # Minimum depth: 549.673196 meters looking forward 0.000000 meters along route # Maximum depth: 549.673196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.673196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881655; longitude = -118.700064; captureRadius = 10; duration = 53; initialDepth = 520.493213; finalDepth = 509.673196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:509.673196 # Seafloor depth:-549.673196 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 53.687574 meters # Minimum depth: 560.493213 meters looking forward 0.000000 meters along route # Maximum depth: 560.493213 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.493213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881204; longitude = -118.699904; captureRadius = 10; duration = 53; initialDepth = 517.857061; finalDepth = 520.493213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:520.493213 # Seafloor depth:-560.493213 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 53.687574 meters # Minimum depth: 557.857061 meters looking forward 0.000000 meters along route # Maximum depth: 557.857061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.857061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880753; longitude = -118.699744; captureRadius = 10; duration = 53; initialDepth = 519.611536; finalDepth = 517.857061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:517.857061 # Seafloor depth:-557.857061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 53.687574 meters # Minimum depth: 559.611536 meters looking forward 0.000000 meters along route # Maximum depth: 559.611536 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 519.611536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880302; longitude = -118.699584; captureRadius = 10; duration = 53; initialDepth = 517.531830; finalDepth = 519.611536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:519.611536 # Seafloor depth:-559.611536 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 85 # Segment length 53.687574 meters # Minimum depth: 557.531830 meters looking forward 0.000000 meters along route # Maximum depth: 557.531830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.531830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879791; longitude = -118.699403; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 518.088032; finalDepth = 517.531830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:517.53183 # Seafloor depth:-557.531830 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 53.687574 meters # Minimum depth: 558.088032 meters looking forward 0.000000 meters along route # Maximum depth: 558.088032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.088032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879671; longitude = -118.699310; captureRadius = 10; duration = 53; initialDepth = 523.873280; finalDepth = 518.088032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.088032 # Seafloor depth:-558.088032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 53.687574 meters # Minimum depth: 563.873280 meters looking forward 0.000000 meters along route # Maximum depth: 563.873280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.873280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879280; longitude = -118.699007; captureRadius = 10; duration = 53; initialDepth = 524.549545; finalDepth = 523.873280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:523.87328 # Seafloor depth:-563.873280 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 53.687574 meters # Minimum depth: 564.549545 meters looking forward 0.000000 meters along route # Maximum depth: 564.549545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 524.549545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878859; longitude = -118.698681; captureRadius = 10; duration = 53; initialDepth = 531.451678; finalDepth = 524.549545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:524.549545 # Seafloor depth:-564.549545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 53.687574 meters # Minimum depth: 571.451678 meters looking forward 0.000000 meters along route # Maximum depth: 571.451678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.451678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878409; longitude = -118.698331; captureRadius = 10; duration = 53; initialDepth = 535.742047; finalDepth = 531.451678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:531.451678 # Seafloor depth:-571.451678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 53.687574 meters # Minimum depth: 575.742047 meters looking forward 0.000000 meters along route # Maximum depth: 575.742047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.742047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878026; longitude = -118.698034; captureRadius = 10; duration = 53; initialDepth = 528.646169; finalDepth = 535.742047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:535.742047 # Seafloor depth:-575.742047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 53.687574 meters # Minimum depth: 568.646169 meters looking forward 0.000000 meters along route # Maximum depth: 568.646169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.646169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877597; longitude = -118.697702; captureRadius = 10; duration = 53; initialDepth = 531.437814; finalDepth = 528.646169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:528.646169 # Seafloor depth:-568.646169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 53.687574 meters # Minimum depth: 571.437814 meters looking forward 0.000000 meters along route # Maximum depth: 571.437814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.437814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877146; longitude = -118.697352; captureRadius = 10; duration = 53; initialDepth = 540.812073; finalDepth = 531.437814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:531.437814 # Seafloor depth:-571.437814 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 84 # Segment length 53.687574 meters # Minimum depth: 580.812073 meters looking forward 0.000000 meters along route # Maximum depth: 580.812073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.812073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876725; longitude = -118.697026; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 540.351920; finalDepth = 540.812073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.812073 # Seafloor depth:-580.812073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 53.687574 meters # Minimum depth: 580.351920 meters looking forward 0.000000 meters along route # Maximum depth: 580.351920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.351920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876658; longitude = -118.697062; captureRadius = 10; duration = 53; initialDepth = 542.177950; finalDepth = 540.351920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.35192 # Seafloor depth:-580.351920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 53.687574 meters # Minimum depth: 582.177950 meters looking forward 0.000000 meters along route # Maximum depth: 582.177950 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.177950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876244; longitude = -118.697283; captureRadius = 10; duration = 53; initialDepth = 545.382950; finalDepth = 542.177950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.17795 # Seafloor depth:-582.177950 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 53.687574 meters # Minimum depth: 585.382950 meters looking forward 0.000000 meters along route # Maximum depth: 585.382950 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.382950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875793; longitude = -118.697523; captureRadius = 10; duration = 53; initialDepth = 535.859332; finalDepth = 545.382950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.38295 # Seafloor depth:-585.382950 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 53.687574 meters # Minimum depth: 575.859332 meters looking forward 0.000000 meters along route # Maximum depth: 575.859332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.859332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875342; longitude = -118.697764; captureRadius = 10; duration = 53; initialDepth = 537.462111; finalDepth = 535.859332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:535.859332 # Seafloor depth:-575.859332 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 53.687574 meters # Minimum depth: 577.462111 meters looking forward 0.000000 meters along route # Maximum depth: 577.462111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.462111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874892; longitude = -118.698005; captureRadius = 10; duration = 53; initialDepth = 538.264405; finalDepth = 537.462111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.462111 # Seafloor depth:-577.462111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 53.687574 meters # Minimum depth: 578.264405 meters looking forward 0.000000 meters along route # Maximum depth: 578.264405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.264405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874431; longitude = -118.698250; captureRadius = 10; duration = 53; initialDepth = 537.924576; finalDepth = 538.264405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.264405 # Seafloor depth:-578.264405 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 83 # Segment length 53.687574 meters # Minimum depth: 577.924576 meters looking forward 0.000000 meters along route # Maximum depth: 577.924576 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.924576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873960; longitude = -118.698502; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 538.384658; finalDepth = 537.924576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.924576 # Seafloor depth:-577.924576 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 53.687574 meters # Minimum depth: 578.384658 meters looking forward 0.000000 meters along route # Maximum depth: 578.384658 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.384658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873900; longitude = -118.698486; captureRadius = 10; duration = 53; initialDepth = 551.144385; finalDepth = 538.384658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.384658 # Seafloor depth:-578.384658 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 53.687574 meters # Minimum depth: 591.144385 meters looking forward 0.000000 meters along route # Maximum depth: 591.144385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.144385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873449; longitude = -118.698364; captureRadius = 10; duration = 53; initialDepth = 557.771815; finalDepth = 551.144385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.144385 # Seafloor depth:-591.144385 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 53.687574 meters # Minimum depth: 597.771815 meters looking forward 0.000000 meters along route # Maximum depth: 597.771815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.771815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872998; longitude = -118.698242; captureRadius = 10; duration = 53; initialDepth = 554.844659; finalDepth = 557.771815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.771815 # Seafloor depth:-597.771815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 53.687574 meters # Minimum depth: 594.844659 meters looking forward 0.000000 meters along route # Maximum depth: 594.844659 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.844659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872547; longitude = -118.698120; captureRadius = 10; duration = 53; initialDepth = 549.991807; finalDepth = 554.844659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.844659 # Seafloor depth:-594.844659 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 53.687574 meters # Minimum depth: 589.991807 meters looking forward 0.000000 meters along route # Maximum depth: 589.991807 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.991807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872096; longitude = -118.697998; captureRadius = 10; duration = 53; initialDepth = 551.851698; finalDepth = 549.991807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:549.991807 # Seafloor depth:-589.991807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 53.687574 meters # Minimum depth: 591.851698 meters looking forward 0.000000 meters along route # Maximum depth: 591.851698 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.851698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871645; longitude = -118.697876; captureRadius = 10; duration = 53; initialDepth = 552.941498; finalDepth = 551.851698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.851698 # Seafloor depth:-591.851698 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 82 # Segment length 53.687574 meters # Minimum depth: 592.941498 meters looking forward 0.000000 meters along route # Maximum depth: 592.941498 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.941498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871164; longitude = -118.697746; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 547.898605; finalDepth = 552.941498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.941498 # Seafloor depth:-592.941498 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 587.898605 meters looking forward 0.000000 meters along route # Maximum depth: 587.898605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.898605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870952; longitude = -118.698250; captureRadius = 10; duration = 53; initialDepth = 547.231382; finalDepth = 547.898605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.898605 # Seafloor depth:-587.898605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 587.231382 meters looking forward 0.000000 meters along route # Maximum depth: 587.231382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.231382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870725; longitude = -118.698790; captureRadius = 10; duration = 53; initialDepth = 549.809606; finalDepth = 547.231382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.231382 # Seafloor depth:-587.231382 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 589.809606 meters looking forward 0.000000 meters along route # Maximum depth: 589.809606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.809606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870497; longitude = -118.699331; captureRadius = 10; duration = 53; initialDepth = 553.212097; finalDepth = 549.809606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:549.809606 # Seafloor depth:-589.809606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 593.212097 meters looking forward 0.000000 meters along route # Maximum depth: 593.212097 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.212097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870292; longitude = -118.699818; captureRadius = 10; duration = 53; initialDepth = 555.935962; finalDepth = 553.212097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.212097 # Seafloor depth:-593.212097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 595.935962 meters looking forward 0.000000 meters along route # Maximum depth: 595.935962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.935962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870088; longitude = -118.700303; captureRadius = 10; duration = 53; initialDepth = 559.270552; finalDepth = 555.935962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:555.935962 # Seafloor depth:-595.935962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 599.270552 meters looking forward 0.000000 meters along route # Maximum depth: 599.270552 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.270552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869841; longitude = -118.700890; captureRadius = 10; duration = 53; initialDepth = 563.208971; finalDepth = 559.270552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.270552 # Seafloor depth:-599.270552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 603.208971 meters looking forward 0.000000 meters along route # Maximum depth: 603.208971 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.208971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869634; longitude = -118.701383; captureRadius = 10; duration = 53; initialDepth = 567.192020; finalDepth = 563.208971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.208971 # Seafloor depth:-603.208971 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 607.192020 meters looking forward 0.000000 meters along route # Maximum depth: 607.192020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 567.192020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869390; longitude = -118.701962; captureRadius = 10; duration = 53; initialDepth = 571.406460; finalDepth = 567.192020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:567.19202 # Seafloor depth:-607.192020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 611.406460 meters looking forward 0.000000 meters along route # Maximum depth: 611.406460 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.406460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869179; longitude = -118.702463; captureRadius = 10; duration = 53; initialDepth = 580.518046; finalDepth = 571.406460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.40646 # Seafloor depth:-611.406460 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 620.518046 meters looking forward 0.000000 meters along route # Maximum depth: 620.518046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.518046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868940; longitude = -118.703033; captureRadius = 10; duration = 53; initialDepth = 592.530800; finalDepth = 580.518046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.518046 # Seafloor depth:-620.518046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 632.530800 meters looking forward 0.000000 meters along route # Maximum depth: 632.530800 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 592.530800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868725; longitude = -118.703544; captureRadius = 10; duration = 53; initialDepth = 597.497903; finalDepth = 592.530800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:592.5308 # Seafloor depth:-632.530800 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 637.497903 meters looking forward 0.000000 meters along route # Maximum depth: 637.497903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 597.497903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868489; longitude = -118.704105; captureRadius = 10; duration = 53; initialDepth = 596.803266; finalDepth = 597.497903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:597.497903 # Seafloor depth:-637.497903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 636.803266 meters looking forward 0.000000 meters along route # Maximum depth: 636.803266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.803266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868270; longitude = -118.704624; captureRadius = 10; duration = 53; initialDepth = 592.985968; finalDepth = 596.803266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.803266 # Seafloor depth:-636.803266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 632.985968 meters looking forward 0.000000 meters along route # Maximum depth: 632.985968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 592.985968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868038; longitude = -118.705177; captureRadius = 10; duration = 53; initialDepth = 586.176795; finalDepth = 592.985968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:592.985968 # Seafloor depth:-632.985968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 626.176795 meters looking forward 0.000000 meters along route # Maximum depth: 626.176795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.176795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867816; longitude = -118.705704; captureRadius = 10; duration = 53; initialDepth = 577.450876; finalDepth = 586.176795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.176795 # Seafloor depth:-626.176795 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 617.450876 meters looking forward 0.000000 meters along route # Maximum depth: 617.450876 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.450876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867587; longitude = -118.706249; captureRadius = 10; duration = 53; initialDepth = 582.330711; finalDepth = 577.450876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.450876 # Seafloor depth:-617.450876 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 622.330711 meters looking forward 0.000000 meters along route # Maximum depth: 622.330711 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.330711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867362; longitude = -118.706784; captureRadius = 10; duration = 53; initialDepth = 588.301004; finalDepth = 582.330711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.330711 # Seafloor depth:-622.330711 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 628.301004 meters looking forward 0.000000 meters along route # Maximum depth: 628.301004 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.301004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867134; longitude = -118.707325; captureRadius = 10; duration = 53; initialDepth = 586.604514; finalDepth = 588.301004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.301004 # Seafloor depth:-628.301004 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 626.604514 meters looking forward 0.000000 meters along route # Maximum depth: 626.604514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.604514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866907; longitude = -118.707865; captureRadius = 10; duration = 53; initialDepth = 585.973273; finalDepth = 586.604514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.604514 # Seafloor depth:-626.604514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 625.973273 meters looking forward 0.000000 meters along route # Maximum depth: 625.973273 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.973273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866680; longitude = -118.708405; captureRadius = 10; duration = 53; initialDepth = 588.982417; finalDepth = 585.973273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.973273 # Seafloor depth:-625.973273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 628.982417 meters looking forward 0.000000 meters along route # Maximum depth: 628.982417 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.982417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866453; longitude = -118.708945; captureRadius = 10; duration = 53; initialDepth = 594.381814; finalDepth = 588.982417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.982417 # Seafloor depth:-628.982417 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 634.381814 meters looking forward 0.000000 meters along route # Maximum depth: 634.381814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.381814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866225; longitude = -118.709485; captureRadius = 10; duration = 53; initialDepth = 595.773277; finalDepth = 594.381814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.381814 # Seafloor depth:-634.381814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 635.773277 meters looking forward 0.000000 meters along route # Maximum depth: 635.773277 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.773277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865998; longitude = -118.710025; captureRadius = 10; duration = 53; initialDepth = 585.752081; finalDepth = 595.773277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:595.773277 # Seafloor depth:-635.773277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 625.752081 meters looking forward 0.000000 meters along route # Maximum depth: 625.752081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.752081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865771; longitude = -118.710565; captureRadius = 10; duration = 53; initialDepth = 576.066784; finalDepth = 585.752081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.752081 # Seafloor depth:-625.752081 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 616.066784 meters looking forward 0.000000 meters along route # Maximum depth: 616.066784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.066784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865544; longitude = -118.711105; captureRadius = 10; duration = 53; initialDepth = 575.758343; finalDepth = 576.066784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.066784 # Seafloor depth:-616.066784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 615.758343 meters looking forward 0.000000 meters along route # Maximum depth: 615.758343 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.758343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865316; longitude = -118.711646; captureRadius = 10; duration = 53; initialDepth = 575.982216; finalDepth = 575.758343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.758343 # Seafloor depth:-615.758343 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 615.982216 meters looking forward 0.000000 meters along route # Maximum depth: 615.982216 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.982216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865089; longitude = -118.712186; captureRadius = 10; duration = 53; initialDepth = 574.734861; finalDepth = 575.982216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.982216 # Seafloor depth:-615.982216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 614.734861 meters looking forward 0.000000 meters along route # Maximum depth: 614.734861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.734861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864862; longitude = -118.712726; captureRadius = 10; duration = 53; initialDepth = 576.396842; finalDepth = 574.734861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.734861 # Seafloor depth:-614.734861 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 616.396842 meters looking forward 0.000000 meters along route # Maximum depth: 616.396842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.396842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864635; longitude = -118.713266; captureRadius = 10; duration = 53; initialDepth = 583.948594; finalDepth = 576.396842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.396842 # Seafloor depth:-616.396842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 623.948594 meters looking forward 0.000000 meters along route # Maximum depth: 623.948594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.948594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864431; longitude = -118.713751; captureRadius = 10; duration = 53; initialDepth = 594.079831; finalDepth = 583.948594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:583.948594 # Seafloor depth:-623.948594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 634.079831 meters looking forward 0.000000 meters along route # Maximum depth: 634.079831 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.079831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864226; longitude = -118.714238; captureRadius = 10; duration = 53; initialDepth = 604.396111; finalDepth = 594.079831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.079831 # Seafloor depth:-634.079831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 644.396111 meters looking forward 0.000000 meters along route # Maximum depth: 644.396111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.396111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863980; longitude = -118.714823; captureRadius = 10; duration = 53; initialDepth = 611.208461; finalDepth = 604.396111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:604.396111 # Seafloor depth:-644.396111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 53.687574 meters # Minimum depth: 651.208461 meters looking forward 0.000000 meters along route # Maximum depth: 651.208461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.208461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863771; longitude = -118.715319; captureRadius = 10; duration = 53; initialDepth = 616.500183; finalDepth = 611.208461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:611.208461 # Seafloor depth:-651.208461 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 81 # Segment length 53.687574 meters # Minimum depth: 656.500183 meters looking forward 0.000000 meters along route # Maximum depth: 656.500183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.500183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863559; longitude = -118.715823; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 615.603269; finalDepth = 616.500183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:616.500183 # Seafloor depth:-656.500183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 655.603269 meters looking forward 0.000000 meters along route # Maximum depth: 655.603269 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 615.603269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863502; longitude = -118.715535; captureRadius = 10; duration = 53; initialDepth = 613.210081; finalDepth = 615.603269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:615.603269 # Seafloor depth:-655.603269 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 653.210081 meters looking forward 0.000000 meters along route # Maximum depth: 653.210081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 613.210081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863395; longitude = -118.714994; captureRadius = 10; duration = 53; initialDepth = 610.051315; finalDepth = 613.210081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:613.210081 # Seafloor depth:-653.210081 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 650.051315 meters looking forward 0.000000 meters along route # Maximum depth: 650.051315 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.051315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863287; longitude = -118.714454; captureRadius = 10; duration = 53; initialDepth = 606.647306; finalDepth = 610.051315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:610.051315 # Seafloor depth:-650.051315 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 646.647306 meters looking forward 0.000000 meters along route # Maximum depth: 646.647306 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 606.647306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863180; longitude = -118.713914; captureRadius = 10; duration = 53; initialDepth = 603.204595; finalDepth = 606.647306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:606.647306 # Seafloor depth:-646.647306 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 643.204595 meters looking forward 0.000000 meters along route # Maximum depth: 643.204595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.204595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863073; longitude = -118.713374; captureRadius = 10; duration = 53; initialDepth = 599.255150; finalDepth = 603.204595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:603.204595 # Seafloor depth:-643.204595 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 639.255150 meters looking forward 0.000000 meters along route # Maximum depth: 639.255150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.255150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862966; longitude = -118.712834; captureRadius = 10; duration = 53; initialDepth = 594.322097; finalDepth = 599.255150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:599.25515 # Seafloor depth:-639.255150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 634.322097 meters looking forward 0.000000 meters along route # Maximum depth: 634.322097 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.322097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862859; longitude = -118.712294; captureRadius = 10; duration = 53; initialDepth = 588.458569; finalDepth = 594.322097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.322097 # Seafloor depth:-634.322097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 628.458569 meters looking forward 0.000000 meters along route # Maximum depth: 628.458569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.458569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862752; longitude = -118.711754; captureRadius = 10; duration = 53; initialDepth = 581.438378; finalDepth = 588.458569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.458569 # Seafloor depth:-628.458569 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 621.438378 meters looking forward 0.000000 meters along route # Maximum depth: 621.438378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.438378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862644; longitude = -118.711214; captureRadius = 10; duration = 53; initialDepth = 575.981111; finalDepth = 581.438378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.438378 # Seafloor depth:-621.438378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 615.981111 meters looking forward 0.000000 meters along route # Maximum depth: 615.981111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.981111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862537; longitude = -118.710671; captureRadius = 10; duration = 53; initialDepth = 573.223090; finalDepth = 575.981111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.981111 # Seafloor depth:-615.981111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 613.223090 meters looking forward 0.000000 meters along route # Maximum depth: 613.223090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.223090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862430; longitude = -118.710133; captureRadius = 10; duration = 53; initialDepth = 575.874731; finalDepth = 573.223090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.22309 # Seafloor depth:-613.223090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 615.874731 meters looking forward 0.000000 meters along route # Maximum depth: 615.874731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.874731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862323; longitude = -118.709593; captureRadius = 10; duration = 53; initialDepth = 584.946258; finalDepth = 575.874731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.874731 # Seafloor depth:-615.874731 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 624.946258 meters looking forward 0.000000 meters along route # Maximum depth: 624.946258 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.946258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862216; longitude = -118.709053; captureRadius = 10; duration = 53; initialDepth = 594.705073; finalDepth = 584.946258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.946258 # Seafloor depth:-624.946258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 634.705073 meters looking forward 0.000000 meters along route # Maximum depth: 634.705073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.705073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862109; longitude = -118.708513; captureRadius = 10; duration = 53; initialDepth = 607.447429; finalDepth = 594.705073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.705073 # Seafloor depth:-634.705073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 647.447429 meters looking forward 0.000000 meters along route # Maximum depth: 647.447429 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.447429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862001; longitude = -118.707973; captureRadius = 10; duration = 53; initialDepth = 614.735389; finalDepth = 607.447429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:607.447429 # Seafloor depth:-647.447429 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 654.735389 meters looking forward 0.000000 meters along route # Maximum depth: 654.735389 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 614.735389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861894; longitude = -118.707433; captureRadius = 10; duration = 53; initialDepth = 611.948690; finalDepth = 614.735389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:614.735389 # Seafloor depth:-654.735389 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 651.948690 meters looking forward 0.000000 meters along route # Maximum depth: 651.948690 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.948690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861787; longitude = -118.706892; captureRadius = 10; duration = 53; initialDepth = 608.830836; finalDepth = 611.948690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:611.94869 # Seafloor depth:-651.948690 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 648.830836 meters looking forward 0.000000 meters along route # Maximum depth: 648.830836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.830836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861680; longitude = -118.706352; captureRadius = 10; duration = 53; initialDepth = 607.561733; finalDepth = 608.830836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.830836 # Seafloor depth:-648.830836 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 647.561733 meters looking forward 0.000000 meters along route # Maximum depth: 647.561733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.561733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861573; longitude = -118.705812; captureRadius = 10; duration = 53; initialDepth = 607.843639; finalDepth = 607.561733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:607.561733 # Seafloor depth:-647.561733 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 647.843639 meters looking forward 0.000000 meters along route # Maximum depth: 647.843639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.843639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861465; longitude = -118.705272; captureRadius = 10; duration = 53; initialDepth = 608.787307; finalDepth = 607.843639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:607.843639 # Seafloor depth:-647.843639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 648.787307 meters looking forward 0.000000 meters along route # Maximum depth: 648.787307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.787307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861358; longitude = -118.704732; captureRadius = 10; duration = 53; initialDepth = 611.213246; finalDepth = 608.787307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.787307 # Seafloor depth:-648.787307 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 651.213246 meters looking forward 0.000000 meters along route # Maximum depth: 651.213246 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.213246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861251; longitude = -118.704192; captureRadius = 10; duration = 53; initialDepth = 616.648138; finalDepth = 611.213246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:611.213246 # Seafloor depth:-651.213246 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 656.648138 meters looking forward 0.000000 meters along route # Maximum depth: 656.648138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.648138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861144; longitude = -118.703652; captureRadius = 10; duration = 53; initialDepth = 619.268279; finalDepth = 616.648138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:616.648138 # Seafloor depth:-656.648138 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 659.268279 meters looking forward 0.000000 meters along route # Maximum depth: 659.268279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.268279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861037; longitude = -118.703112; captureRadius = 10; duration = 53; initialDepth = 622.983130; finalDepth = 619.268279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.268279 # Seafloor depth:-659.268279 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 662.983130 meters looking forward 0.000000 meters along route # Maximum depth: 662.983130 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.983130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860930; longitude = -118.702571; captureRadius = 10; duration = 53; initialDepth = 623.894826; finalDepth = 622.983130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:622.98313 # Seafloor depth:-662.983130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 663.894826 meters looking forward 0.000000 meters along route # Maximum depth: 663.894826 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.894826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860822; longitude = -118.702031; captureRadius = 10; duration = 53; initialDepth = 623.940043; finalDepth = 623.894826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:623.894826 # Seafloor depth:-663.894826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 663.940043 meters looking forward 0.000000 meters along route # Maximum depth: 663.940043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.940043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860715; longitude = -118.701491; captureRadius = 10; duration = 53; initialDepth = 622.455689; finalDepth = 623.940043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:623.940043 # Seafloor depth:-663.940043 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 662.455689 meters looking forward 0.000000 meters along route # Maximum depth: 662.455689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.455689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860608; longitude = -118.700951; captureRadius = 10; duration = 53; initialDepth = 608.665587; finalDepth = 622.455689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:622.455689 # Seafloor depth:-662.455689 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 648.665587 meters looking forward 0.000000 meters along route # Maximum depth: 648.665587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.665587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860501; longitude = -118.700411; captureRadius = 10; duration = 53; initialDepth = 598.679604; finalDepth = 608.665587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.665587 # Seafloor depth:-648.665587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 638.679604 meters looking forward 0.000000 meters along route # Maximum depth: 638.679604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 598.679604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860394; longitude = -118.699871; captureRadius = 10; duration = 53; initialDepth = 592.840018; finalDepth = 598.679604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:598.679604 # Seafloor depth:-638.679604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 632.840018 meters looking forward 0.000000 meters along route # Maximum depth: 632.840018 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 592.840018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860287; longitude = -118.699331; captureRadius = 10; duration = 53; initialDepth = 588.964838; finalDepth = 592.840018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:592.840018 # Seafloor depth:-632.840018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 628.964838 meters looking forward 0.000000 meters along route # Maximum depth: 628.964838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.964838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860179; longitude = -118.698790; captureRadius = 10; duration = 53; initialDepth = 585.630603; finalDepth = 588.964838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.964838 # Seafloor depth:-628.964838 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 625.630603 meters looking forward 0.000000 meters along route # Maximum depth: 625.630603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.630603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860072; longitude = -118.698250; captureRadius = 10; duration = 53; initialDepth = 584.966528; finalDepth = 585.630603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.630603 # Seafloor depth:-625.630603 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 624.966528 meters looking forward 0.000000 meters along route # Maximum depth: 624.966528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.966528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859965; longitude = -118.697710; captureRadius = 10; duration = 53; initialDepth = 604.419341; finalDepth = 584.966528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.966528 # Seafloor depth:-624.966528 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 644.419341 meters looking forward 0.000000 meters along route # Maximum depth: 644.419341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.419341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859858; longitude = -118.697170; captureRadius = 10; duration = 53; initialDepth = 624.134310; finalDepth = 604.419341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:604.419341 # Seafloor depth:-644.419341 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 664.134310 meters looking forward 0.000000 meters along route # Maximum depth: 664.134310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.134310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859751; longitude = -118.696630; captureRadius = 10; duration = 53; initialDepth = 639.509617; finalDepth = 624.134310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:624.13431 # Seafloor depth:-664.134310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 679.509617 meters looking forward 0.000000 meters along route # Maximum depth: 679.509617 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 639.509617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859643; longitude = -118.696090; captureRadius = 10; duration = 53; initialDepth = 662.503109; finalDepth = 639.509617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:639.509617 # Seafloor depth:-679.509617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 702.503109 meters looking forward 0.000000 meters along route # Maximum depth: 702.503109 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 662.503109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859536; longitude = -118.695550; captureRadius = 10; duration = 53; initialDepth = 680.404816; finalDepth = 662.503109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:662.503109 # Seafloor depth:-702.503109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 720.404816 meters looking forward 0.000000 meters along route # Maximum depth: 720.404816 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.404816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859429; longitude = -118.695010; captureRadius = 10; duration = 53; initialDepth = 684.338514; finalDepth = 680.404816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:680.404816 # Seafloor depth:-720.404816 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 724.338514 meters looking forward 0.000000 meters along route # Maximum depth: 724.338514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.338514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859322; longitude = -118.694469; captureRadius = 10; duration = 53; initialDepth = 674.564323; finalDepth = 684.338514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:684.338514 # Seafloor depth:-724.338514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 714.564323 meters looking forward 0.000000 meters along route # Maximum depth: 714.564323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.564323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859215; longitude = -118.693929; captureRadius = 10; duration = 53; initialDepth = 649.158726; finalDepth = 674.564323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:674.564323 # Seafloor depth:-714.564323 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 689.158726 meters looking forward 0.000000 meters along route # Maximum depth: 689.158726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.158726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859108; longitude = -118.693389; captureRadius = 10; duration = 53; initialDepth = 616.165919; finalDepth = 649.158726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:649.158726 # Seafloor depth:-689.158726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 656.165919 meters looking forward 0.000000 meters along route # Maximum depth: 656.165919 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.165919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859000; longitude = -118.692849; captureRadius = 10; duration = 53; initialDepth = 593.330038; finalDepth = 616.165919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:616.165919 # Seafloor depth:-656.165919 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 53.687574 meters # Minimum depth: 633.330038 meters looking forward 0.000000 meters along route # Maximum depth: 633.330038 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.330038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858893; longitude = -118.692309; captureRadius = 10; duration = 53; initialDepth = 581.506439; finalDepth = 593.330038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.330038 # Seafloor depth:-633.330038 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 80 # Segment length 53.687574 meters # Minimum depth: 621.506439 meters looking forward 0.000000 meters along route # Maximum depth: 621.506439 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.506439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858779; longitude = -118.691733; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 579.632481; finalDepth = 581.506439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.506439 # Seafloor depth:-621.506439 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 53.687574 meters # Minimum depth: 619.632481 meters looking forward 0.000000 meters along route # Maximum depth: 619.632481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.632481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858388; longitude = -118.691445; captureRadius = 10; duration = 53; initialDepth = 578.614333; finalDepth = 579.632481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.632481 # Seafloor depth:-619.632481 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 53.687574 meters # Minimum depth: 618.614333 meters looking forward 0.000000 meters along route # Maximum depth: 618.614333 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.614333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857937; longitude = -118.691113; captureRadius = 10; duration = 53; initialDepth = 577.612953; finalDepth = 578.614333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.614333 # Seafloor depth:-618.614333 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 53.687574 meters # Minimum depth: 617.612953 meters looking forward 0.000000 meters along route # Maximum depth: 617.612953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.612953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857487; longitude = -118.690780; captureRadius = 10; duration = 53; initialDepth = 576.199787; finalDepth = 577.612953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.612953 # Seafloor depth:-617.612953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 53.687574 meters # Minimum depth: 616.199787 meters looking forward 0.000000 meters along route # Maximum depth: 616.199787 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.199787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857036; longitude = -118.690448; captureRadius = 10; duration = 53; initialDepth = 575.594521; finalDepth = 576.199787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.199787 # Seafloor depth:-616.199787 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 53.687574 meters # Minimum depth: 615.594521 meters looking forward 0.000000 meters along route # Maximum depth: 615.594521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.594521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856585; longitude = -118.690115; captureRadius = 10; duration = 53; initialDepth = 574.437623; finalDepth = 575.594521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.594521 # Seafloor depth:-615.594521 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 53.687574 meters # Minimum depth: 614.437623 meters looking forward 0.000000 meters along route # Maximum depth: 614.437623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.437623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856134; longitude = -118.689783; captureRadius = 10; duration = 53; initialDepth = 571.658100; finalDepth = 574.437623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.437623 # Seafloor depth:-614.437623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 53.687574 meters # Minimum depth: 611.658100 meters looking forward 0.000000 meters along route # Maximum depth: 611.658100 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.658100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855683; longitude = -118.689450; captureRadius = 10; duration = 53; initialDepth = 569.660797; finalDepth = 571.658100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.6581 # Seafloor depth:-611.658100 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 79 # Segment length 53.687574 meters # Minimum depth: 609.660797 meters looking forward 0.000000 meters along route # Maximum depth: 609.660797 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.660797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855262; longitude = -118.689140; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 569.368798; finalDepth = 569.660797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.660797 # Seafloor depth:-609.660797 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 53.687574 meters # Minimum depth: 609.368798 meters looking forward 0.000000 meters along route # Maximum depth: 609.368798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.368798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855052; longitude = -118.689062; captureRadius = 10; duration = 53; initialDepth = 568.340646; finalDepth = 569.368798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.368798 # Seafloor depth:-609.368798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 53.687574 meters # Minimum depth: 608.340646 meters looking forward 0.000000 meters along route # Maximum depth: 608.340646 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.340646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854601; longitude = -118.688896; captureRadius = 10; duration = 53; initialDepth = 565.683289; finalDepth = 568.340646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:568.340646 # Seafloor depth:-608.340646 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 78 # Segment length 53.687574 meters # Minimum depth: 605.683289 meters looking forward 0.000000 meters along route # Maximum depth: 605.683289 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.683289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854090; longitude = -118.688708; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 563.638520; finalDepth = 565.683289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.683289 # Seafloor depth:-605.683289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 53.687574 meters # Minimum depth: 603.638520 meters looking forward 0.000000 meters along route # Maximum depth: 603.638520 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.638520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853699; longitude = -118.688652; captureRadius = 10; duration = 53; initialDepth = 561.649543; finalDepth = 563.638520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.63852 # Seafloor depth:-603.638520 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 53.687574 meters # Minimum depth: 601.649543 meters looking forward 0.000000 meters along route # Maximum depth: 601.649543 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.649543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853248; longitude = -118.688588; captureRadius = 10; duration = 53; initialDepth = 559.927305; finalDepth = 561.649543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.649543 # Seafloor depth:-601.649543 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 53.687574 meters # Minimum depth: 599.927305 meters looking forward 0.000000 meters along route # Maximum depth: 599.927305 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.927305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852797; longitude = -118.688524; captureRadius = 10; duration = 53; initialDepth = 557.463013; finalDepth = 559.927305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.927305 # Seafloor depth:-599.927305 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 77 # Segment length 53.687574 meters # Minimum depth: 597.463013 meters looking forward 0.000000 meters along route # Maximum depth: 597.463013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.463013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852316; longitude = -118.688456; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 558.170134; finalDepth = 557.463013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.463013 # Seafloor depth:-597.463013 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 53.687574 meters # Minimum depth: 598.170134 meters looking forward 0.000000 meters along route # Maximum depth: 598.170134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.170134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852166; longitude = -118.688594; captureRadius = 10; duration = 53; initialDepth = 559.406584; finalDepth = 558.170134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.170134 # Seafloor depth:-598.170134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 53.687574 meters # Minimum depth: 599.406584 meters looking forward 0.000000 meters along route # Maximum depth: 599.406584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.406584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851805; longitude = -118.688927; captureRadius = 10; duration = 53; initialDepth = 560.761769; finalDepth = 559.406584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.406584 # Seafloor depth:-599.406584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 53.687574 meters # Minimum depth: 600.761769 meters looking forward 0.000000 meters along route # Maximum depth: 600.761769 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.761769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851444; longitude = -118.689259; captureRadius = 10; duration = 53; initialDepth = 562.110714; finalDepth = 560.761769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.761769 # Seafloor depth:-600.761769 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 53.687574 meters # Minimum depth: 602.110714 meters looking forward 0.000000 meters along route # Maximum depth: 602.110714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.110714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851084; longitude = -118.689592; captureRadius = 10; duration = 53; initialDepth = 563.655355; finalDepth = 562.110714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:562.110714 # Seafloor depth:-602.110714 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 53.687574 meters # Minimum depth: 603.655355 meters looking forward 0.000000 meters along route # Maximum depth: 603.655355 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.655355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850723; longitude = -118.689924; captureRadius = 10; duration = 53; initialDepth = 565.005934; finalDepth = 563.655355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.655355 # Seafloor depth:-603.655355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 53.687574 meters # Minimum depth: 605.005934 meters looking forward 0.000000 meters along route # Maximum depth: 605.005934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.005934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850362; longitude = -118.690257; captureRadius = 10; duration = 53; initialDepth = 565.941437; finalDepth = 565.005934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.005934 # Seafloor depth:-605.005934 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 53.687574 meters # Minimum depth: 605.941437 meters looking forward 0.000000 meters along route # Maximum depth: 605.941437 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.941437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850002; longitude = -118.690589; captureRadius = 10; duration = 53; initialDepth = 568.513931; finalDepth = 565.941437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.941437 # Seafloor depth:-605.941437 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 76 # Segment length 53.687574 meters # Minimum depth: 608.513931 meters looking forward 0.000000 meters along route # Maximum depth: 608.513931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.513931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849581; longitude = -118.690977; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 569.930823; finalDepth = 568.513931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:568.513931 # Seafloor depth:-608.513931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 53.687574 meters # Minimum depth: 609.930823 meters looking forward 0.000000 meters along route # Maximum depth: 609.930823 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.930823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849370; longitude = -118.691251; captureRadius = 10; duration = 53; initialDepth = 569.366742; finalDepth = 569.930823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.930823 # Seafloor depth:-609.930823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 53.687574 meters # Minimum depth: 609.366742 meters looking forward 0.000000 meters along route # Maximum depth: 609.366742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.366742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849055; longitude = -118.691661; captureRadius = 10; duration = 53; initialDepth = 575.262000; finalDepth = 569.366742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.366742 # Seafloor depth:-609.366742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 53.687574 meters # Minimum depth: 615.262000 meters looking forward 0.000000 meters along route # Maximum depth: 615.262000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.262000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848723; longitude = -118.692093; captureRadius = 10; duration = 53; initialDepth = 582.448384; finalDepth = 575.262000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.262 # Seafloor depth:-615.262000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 53.687574 meters # Minimum depth: 622.448384 meters looking forward 0.000000 meters along route # Maximum depth: 622.448384 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.448384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848378; longitude = -118.692541; captureRadius = 10; duration = 53; initialDepth = 591.767106; finalDepth = 582.448384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.448384 # Seafloor depth:-622.448384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 53.687574 meters # Minimum depth: 631.767106 meters looking forward 0.000000 meters along route # Maximum depth: 631.767106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.767106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848058; longitude = -118.692957; captureRadius = 10; duration = 53; initialDepth = 605.003290; finalDepth = 591.767106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.767106 # Seafloor depth:-631.767106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 53.687574 meters # Minimum depth: 645.003290 meters looking forward 0.000000 meters along route # Maximum depth: 645.003290 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.003290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847726; longitude = -118.693389; captureRadius = 10; duration = 53; initialDepth = 623.896405; finalDepth = 605.003290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.00329 # Seafloor depth:-645.003290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 53.687574 meters # Minimum depth: 663.896405 meters looking forward 0.000000 meters along route # Maximum depth: 663.896405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.896405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847386; longitude = -118.693831; captureRadius = 10; duration = 53; initialDepth = 634.933666; finalDepth = 623.896405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:623.896405 # Seafloor depth:-663.896405 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 53.687574 meters # Minimum depth: 674.933666 meters looking forward 0.000000 meters along route # Maximum depth: 674.933666 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.933666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847061; longitude = -118.694253; captureRadius = 10; duration = 53; initialDepth = 638.617006; finalDepth = 634.933666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:634.933666 # Seafloor depth:-674.933666 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 53.687574 meters # Minimum depth: 678.617006 meters looking forward 0.000000 meters along route # Maximum depth: 678.617006 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 638.617006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.846755; longitude = -118.694652; captureRadius = 10; duration = 53; initialDepth = 642.160797; finalDepth = 638.617006; 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:638.617006 # Seafloor depth:-678.617006 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 75 # Segment length 53.687574 meters # Minimum depth: 682.160797 meters looking forward 0.000000 meters along route # Maximum depth: 682.160797 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.160797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.846424; longitude = -118.695082; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 643.540524; finalDepth = 642.160797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:642.160797 # Seafloor depth:-682.160797 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 53.687574 meters # Minimum depth: 683.540524 meters looking forward 0.000000 meters along route # Maximum depth: 683.540524 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 643.540524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.846304; longitude = -118.695162; captureRadius = 10; duration = 53; initialDepth = 653.138937; finalDepth = 643.540524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:643.540524 # Seafloor depth:-683.540524 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 53.687574 meters # Minimum depth: 693.138937 meters looking forward 0.000000 meters along route # Maximum depth: 693.138937 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.138937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.845886; longitude = -118.695442; captureRadius = 10; duration = 53; initialDepth = 653.419840; finalDepth = 653.138937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:653.138937 # Seafloor depth:-693.138937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 53.687574 meters # Minimum depth: 693.419840 meters looking forward 0.000000 meters along route # Maximum depth: 693.419840 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.419840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.845492; longitude = -118.695705; captureRadius = 10; duration = 53; initialDepth = 660.457210; finalDepth = 653.419840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:653.41984 # Seafloor depth:-693.419840 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 53.687574 meters # Minimum depth: 700.457210 meters looking forward 0.000000 meters along route # Maximum depth: 700.457210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 660.457210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.845079; longitude = -118.695982; captureRadius = 10; duration = 53; initialDepth = 671.036036; finalDepth = 660.457210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:660.45721 # Seafloor depth:-700.457210 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 53.687574 meters # Minimum depth: 711.036036 meters looking forward 0.000000 meters along route # Maximum depth: 711.036036 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.036036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.844681; longitude = -118.696248; captureRadius = 10; duration = 53; initialDepth = 676.809873; finalDepth = 671.036036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:671.036036 # Seafloor depth:-711.036036 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 53.687574 meters # Minimum depth: 716.809873 meters looking forward 0.000000 meters along route # Maximum depth: 716.809873 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.809873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.844230; longitude = -118.696550; captureRadius = 10; duration = 53; initialDepth = 687.683154; finalDepth = 676.809873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:676.809873 # Seafloor depth:-716.809873 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 53.687574 meters # Minimum depth: 727.683154 meters looking forward 0.000000 meters along route # Maximum depth: 727.683154 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.683154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.843779; longitude = -118.696851; captureRadius = 10; duration = 53; initialDepth = 698.152072; finalDepth = 687.683154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:687.683154 # Seafloor depth:-727.683154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 53.687574 meters # Minimum depth: 738.152072 meters looking forward 0.000000 meters along route # Maximum depth: 738.152072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.152072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.843302; longitude = -118.697170; captureRadius = 10; duration = 53; initialDepth = 704.331388; finalDepth = 698.152072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.152072 # Seafloor depth:-738.152072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 53.687574 meters # Minimum depth: 744.331388 meters looking forward 0.000000 meters along route # Maximum depth: 744.331388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.842877; longitude = -118.697455; captureRadius = 10; duration = 53; initialDepth = 708.959566; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.3313879999999 # Actual altitude: 50 # Commanded vehicle depth:700 # Seafloor depth:-744.331388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 53.687574 meters # Minimum depth: 748.959566 meters looking forward 0.000000 meters along route # Maximum depth: 748.959566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.842426; longitude = -118.697756; captureRadius = 10; duration = 53; initialDepth = 713.539836; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.959566 # Actual altitude: 50 # Commanded vehicle depth:700 # Seafloor depth:-748.959566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 53.687574 meters # Minimum depth: 753.539836 meters looking forward 0.000000 meters along route # Maximum depth: 753.539836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.842011; longitude = -118.698034; captureRadius = 10; duration = 53; initialDepth = 720.093535; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.539836 # Actual altitude: 53.539836 # Commanded vehicle depth:700 # Seafloor depth:-753.539836 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.16; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.42; MB_Bottom_Detect_Filter_Max_Range = 214.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 53.687574 meters # Minimum depth: 760.093535 meters looking forward 0.000000 meters along route # Maximum depth: 760.093535 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.841615; longitude = -118.698299; captureRadius = 10; duration = 53; initialDepth = 723.696101; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.093535 # Actual altitude: 60.093535 # Commanded vehicle depth:700 # Seafloor depth:-760.093535 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.37; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.04; MB_Bottom_Detect_Filter_Max_Range = 240.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 53.687574 meters # Minimum depth: 763.696101 meters looking forward 0.000000 meters along route # Maximum depth: 763.696101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.841203; longitude = -118.698574; captureRadius = 10; duration = 53; initialDepth = 730.776948; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.696101 # Actual altitude: 63.696101 # Commanded vehicle depth:700 # Seafloor depth:-763.696101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.78; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.48; MB_Bottom_Detect_Filter_Max_Range = 254.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 191.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 53.687574 meters # Minimum depth: 770.776948 meters looking forward 0.000000 meters along route # Maximum depth: 770.776948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.840803; longitude = -118.698842; captureRadius = 10; duration = 53; initialDepth = 734.595089; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.7769479999999 # Actual altitude: 70.7769479999999 # Commanded vehicle depth:700 # Seafloor depth:-770.776948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 283.11; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.31; MB_Bottom_Detect_Filter_Max_Range = 283.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 53.687574 meters # Minimum depth: 774.595089 meters looking forward 0.000000 meters along route # Maximum depth: 774.595089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.840352; longitude = -118.699144; captureRadius = 10; duration = 53; initialDepth = 740.681766; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.595089 # Actual altitude: 74.595089 # Commanded vehicle depth:700 # Seafloor depth:-774.595089 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 298.38; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.84; MB_Bottom_Detect_Filter_Max_Range = 298.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 53.687574 meters # Minimum depth: 780.681766 meters looking forward 0.000000 meters along route # Maximum depth: 780.681766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.839901; longitude = -118.699445; captureRadius = 10; duration = 53; initialDepth = 745.740046; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.681766 # Actual altitude: 80.681766 # Commanded vehicle depth:700 # Seafloor depth:-780.681766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 322.73; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.27; MB_Bottom_Detect_Filter_Max_Range = 322.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 53.687574 meters # Minimum depth: 785.740046 meters looking forward 0.000000 meters along route # Maximum depth: 785.740046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.839427; longitude = -118.699763; captureRadius = 10; duration = 53; initialDepth = 749.636789; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.740046 # Actual altitude: 85.740046 # Commanded vehicle depth:700 # Seafloor depth:-785.740046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 342.96; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.30; MB_Bottom_Detect_Filter_Max_Range = 342.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 53.687574 meters # Minimum depth: 789.636789 meters looking forward 0.000000 meters along route # Maximum depth: 789.636789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.838999; longitude = -118.700048; captureRadius = 10; duration = 53; initialDepth = 753.337501; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.636789 # Actual altitude: 89.636789 # Commanded vehicle depth:700 # Seafloor depth:-789.636789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 358.55; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.85; MB_Bottom_Detect_Filter_Max_Range = 358.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 53.687574 meters # Minimum depth: 793.337501 meters looking forward 0.000000 meters along route # Maximum depth: 793.337501 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.838549; longitude = -118.700350; captureRadius = 10; duration = 53; initialDepth = 757.425213; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.337501 # Actual altitude: 93.337501 # Commanded vehicle depth:700 # Seafloor depth:-793.337501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 373.35; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.34; MB_Bottom_Detect_Filter_Max_Range = 373.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 53.687574 meters # Minimum depth: 797.425213 meters looking forward 0.000000 meters along route # Maximum depth: 797.425213 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.838135; longitude = -118.700627; captureRadius = 10; duration = 53; initialDepth = 758.635541; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.425213 # Actual altitude: 97.425213 # Commanded vehicle depth:700 # Seafloor depth:-797.425213 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 389.70; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.97; MB_Bottom_Detect_Filter_Max_Range = 389.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 53.687574 meters # Minimum depth: 798.635541 meters looking forward 0.000000 meters along route # Maximum depth: 798.635541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.837737; longitude = -118.700893; captureRadius = 10; duration = 53; initialDepth = 761.133089; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.635541 # Actual altitude: 98.635541 # Commanded vehicle depth:700 # Seafloor depth:-798.635541 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 394.54; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.45; MB_Bottom_Detect_Filter_Max_Range = 394.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 53.687574 meters # Minimum depth: 801.133089 meters looking forward 0.000000 meters along route # Maximum depth: 801.133089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.837286; longitude = -118.701195; captureRadius = 10; duration = 53; initialDepth = 765.824392; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 101.133089 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-801.133089 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 53.687574 meters # Minimum depth: 805.824392 meters looking forward 0.000000 meters along route # Maximum depth: 805.824392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.836835; longitude = -118.701496; captureRadius = 10; duration = 53; initialDepth = 767.916163; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.824392 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-805.824392 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 53.687574 meters # Minimum depth: 807.916163 meters looking forward 0.000000 meters along route # Maximum depth: 807.916163 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.836358; longitude = -118.701815; captureRadius = 10; duration = 53; initialDepth = 767.191603; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.916163 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-807.916163 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 53.687574 meters # Minimum depth: 807.191603 meters looking forward 0.000000 meters along route # Maximum depth: 807.191603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.835933; longitude = -118.702099; captureRadius = 10; duration = 53; initialDepth = 764.957783; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.916163 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-807.191603 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 53.687574 meters # Minimum depth: 804.957783 meters looking forward 0.000000 meters along route # Maximum depth: 804.957783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.835482; longitude = -118.702401; captureRadius = 10; duration = 53; initialDepth = 763.601128; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.191603 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-804.957783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 53.687574 meters # Minimum depth: 803.601128 meters looking forward 0.000000 meters along route # Maximum depth: 803.601128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.835066; longitude = -118.702679; captureRadius = 10; duration = 53; initialDepth = 763.799761; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 104.957783 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-803.601128 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 53.687574 meters # Minimum depth: 803.799761 meters looking forward 0.000000 meters along route # Maximum depth: 803.799761 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.834671; longitude = -118.702944; captureRadius = 10; duration = 53; initialDepth = 766.622583; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 103.799761 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-803.799761 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 53.687574 meters # Minimum depth: 806.622583 meters looking forward 0.000000 meters along route # Maximum depth: 806.622583 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.834259; longitude = -118.703220; captureRadius = 10; duration = 53; initialDepth = 770.824370; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.622583 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-806.622583 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 53.687574 meters # Minimum depth: 810.824370 meters looking forward 0.000000 meters along route # Maximum depth: 810.824370 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.833859; longitude = -118.703487; captureRadius = 10; duration = 53; initialDepth = 772.298176; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.82437 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-810.824370 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 53.687574 meters # Minimum depth: 812.298176 meters looking forward 0.000000 meters along route # Maximum depth: 812.298176 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.833408; longitude = -118.703789; captureRadius = 10; duration = 53; initialDepth = 778.695191; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.298176 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-812.298176 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 53.687574 meters # Minimum depth: 818.695191 meters looking forward 0.000000 meters along route # Maximum depth: 818.695191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.832957; longitude = -118.704090; captureRadius = 10; duration = 53; initialDepth = 780.650101; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 118.695191 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-818.695191 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 74 # Segment length 53.687574 meters # Minimum depth: 820.650101 meters looking forward 0.000000 meters along route # Maximum depth: 820.650101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.832536; longitude = -118.704372; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 780.479829; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 120.650101 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-820.650101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 53.687574 meters # Minimum depth: 820.479829 meters looking forward 0.000000 meters along route # Maximum depth: 820.479829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.832687; longitude = -118.704692; captureRadius = 10; duration = 53; initialDepth = 778.507281; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 120.650101 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-820.479829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 53.687574 meters # Minimum depth: 818.507281 meters looking forward 0.000000 meters along route # Maximum depth: 818.507281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.832909; longitude = -118.705164; captureRadius = 10; duration = 53; initialDepth = 776.100762; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 120.479829 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-818.507281 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 53.687574 meters # Minimum depth: 816.100762 meters looking forward 0.000000 meters along route # Maximum depth: 816.100762 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.833138; longitude = -118.705650; captureRadius = 10; duration = 53; initialDepth = 774.388731; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 118.507281 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-816.100762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 53.687574 meters # Minimum depth: 814.388731 meters looking forward 0.000000 meters along route # Maximum depth: 814.388731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.833366; longitude = -118.706136; captureRadius = 10; duration = 53; initialDepth = 775.486606; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 116.100762 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-814.388731 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 53.687574 meters # Minimum depth: 815.486606 meters looking forward 0.000000 meters along route # Maximum depth: 815.486606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.833589; longitude = -118.706609; captureRadius = 10; duration = 53; initialDepth = 773.221681; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 115.486606 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-815.486606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 53.687574 meters # Minimum depth: 813.221681 meters looking forward 0.000000 meters along route # Maximum depth: 813.221681 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.833824; longitude = -118.707109; captureRadius = 10; duration = 53; initialDepth = 774.639740; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 115.486606 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-813.221681 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 53.687574 meters # Minimum depth: 814.639740 meters looking forward 0.000000 meters along route # Maximum depth: 814.639740 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.834078; longitude = -118.707649; captureRadius = 10; duration = 53; initialDepth = 773.890925; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 114.63974 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-814.639740 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 53.687574 meters # Minimum depth: 813.890925 meters looking forward 0.000000 meters along route # Maximum depth: 813.890925 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.834332; longitude = -118.708189; captureRadius = 10; duration = 53; initialDepth = 770.180033; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 114.63974 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-813.890925 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 53.687574 meters # Minimum depth: 810.180033 meters looking forward 0.000000 meters along route # Maximum depth: 810.180033 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.834586; longitude = -118.708729; captureRadius = 10; duration = 53; initialDepth = 771.200867; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 113.890925 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-810.180033 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 53.687574 meters # Minimum depth: 811.200867 meters looking forward 0.000000 meters along route # Maximum depth: 811.200867 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.834851; longitude = -118.709291; captureRadius = 10; duration = 53; initialDepth = 761.930408; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.200867 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-811.200867 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 53.687574 meters # Minimum depth: 801.930408 meters looking forward 0.000000 meters along route # Maximum depth: 801.930408 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.835095; longitude = -118.709809; captureRadius = 10; duration = 53; initialDepth = 751.387848; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.200867 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-801.930408 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 73 # Segment length 53.687574 meters # Minimum depth: 791.387848 meters looking forward 0.000000 meters along route # Maximum depth: 791.387848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.835332; longitude = -118.710313; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 748.927542; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 101.930408 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-791.387848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 788.927542 meters looking forward 0.000000 meters along route # Maximum depth: 788.927542 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.835663; longitude = -118.710364; captureRadius = 10; duration = 53; initialDepth = 750.585866; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.387848 # Actual altitude: 91.387848 # Commanded vehicle depth:700 # Seafloor depth:-788.927542 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 365.55; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.56; MB_Bottom_Detect_Filter_Max_Range = 365.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 790.585866 meters looking forward 0.000000 meters along route # Maximum depth: 790.585866 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.836114; longitude = -118.710434; captureRadius = 10; duration = 53; initialDepth = 750.480731; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.585866 # Actual altitude: 90.585866 # Commanded vehicle depth:700 # Seafloor depth:-790.585866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 362.34; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.23; MB_Bottom_Detect_Filter_Max_Range = 362.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 790.480731 meters looking forward 0.000000 meters along route # Maximum depth: 790.480731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.836565; longitude = -118.710504; captureRadius = 10; duration = 53; initialDepth = 751.465272; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.585866 # Actual altitude: 90.585866 # Commanded vehicle depth:700 # Seafloor depth:-790.480731 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 362.34; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.23; MB_Bottom_Detect_Filter_Max_Range = 362.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 791.465272 meters looking forward 0.000000 meters along route # Maximum depth: 791.465272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.837015; longitude = -118.710574; captureRadius = 10; duration = 53; initialDepth = 751.938507; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.465272 # Actual altitude: 91.465272 # Commanded vehicle depth:700 # Seafloor depth:-791.465272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 365.86; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.59; MB_Bottom_Detect_Filter_Max_Range = 365.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 791.938507 meters looking forward 0.000000 meters along route # Maximum depth: 791.938507 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.837466; longitude = -118.710644; captureRadius = 10; duration = 53; initialDepth = 751.924200; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.938507 # Actual altitude: 91.938507 # Commanded vehicle depth:700 # Seafloor depth:-791.938507 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 367.75; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.78; MB_Bottom_Detect_Filter_Max_Range = 367.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 791.924200 meters looking forward 0.000000 meters along route # Maximum depth: 791.924200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.837917; longitude = -118.710714; captureRadius = 10; duration = 53; initialDepth = 752.387579; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.938507 # Actual altitude: 91.938507 # Commanded vehicle depth:700 # Seafloor depth:-791.924200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 367.75; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.78; MB_Bottom_Detect_Filter_Max_Range = 367.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 792.387579 meters looking forward 0.000000 meters along route # Maximum depth: 792.387579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.838368; longitude = -118.710783; captureRadius = 10; duration = 53; initialDepth = 752.205715; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.387579 # Actual altitude: 92.387579 # Commanded vehicle depth:700 # Seafloor depth:-792.387579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 369.55; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.96; MB_Bottom_Detect_Filter_Max_Range = 369.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 792.205715 meters looking forward 0.000000 meters along route # Maximum depth: 792.205715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.838819; longitude = -118.710853; captureRadius = 10; duration = 53; initialDepth = 752.701052; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.387579 # Actual altitude: 92.387579 # Commanded vehicle depth:700 # Seafloor depth:-792.205715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 369.55; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.96; MB_Bottom_Detect_Filter_Max_Range = 369.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 792.701052 meters looking forward 0.000000 meters along route # Maximum depth: 792.701052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.839270; longitude = -118.710923; captureRadius = 10; duration = 53; initialDepth = 753.711633; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.701052 # Actual altitude: 92.701052 # Commanded vehicle depth:700 # Seafloor depth:-792.701052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 370.80; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.08; MB_Bottom_Detect_Filter_Max_Range = 370.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 793.711633 meters looking forward 0.000000 meters along route # Maximum depth: 793.711633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.839721; longitude = -118.710993; captureRadius = 10; duration = 53; initialDepth = 753.326231; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.711633 # Actual altitude: 93.711633 # Commanded vehicle depth:700 # Seafloor depth:-793.711633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 374.85; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.48; MB_Bottom_Detect_Filter_Max_Range = 374.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 793.326231 meters looking forward 0.000000 meters along route # Maximum depth: 793.326231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.840172; longitude = -118.711063; captureRadius = 10; duration = 53; initialDepth = 751.676242; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.711633 # Actual altitude: 93.711633 # Commanded vehicle depth:700 # Seafloor depth:-793.326231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 374.85; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.48; MB_Bottom_Detect_Filter_Max_Range = 374.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 791.676242 meters looking forward 0.000000 meters along route # Maximum depth: 791.676242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.840623; longitude = -118.711133; captureRadius = 10; duration = 53; initialDepth = 749.834302; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.326231 # Actual altitude: 93.326231 # Commanded vehicle depth:700 # Seafloor depth:-791.676242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 373.30; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.33; MB_Bottom_Detect_Filter_Max_Range = 373.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 789.834302 meters looking forward 0.000000 meters along route # Maximum depth: 789.834302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.841074; longitude = -118.711202; captureRadius = 10; duration = 53; initialDepth = 746.629733; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.676242 # Actual altitude: 91.676242 # Commanded vehicle depth:700 # Seafloor depth:-789.834302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 366.70; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.67; MB_Bottom_Detect_Filter_Max_Range = 366.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 786.629733 meters looking forward 0.000000 meters along route # Maximum depth: 786.629733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.841525; longitude = -118.711272; captureRadius = 10; duration = 53; initialDepth = 744.377417; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.834302 # Actual altitude: 89.834302 # Commanded vehicle depth:700 # Seafloor depth:-786.629733 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 359.34; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.93; MB_Bottom_Detect_Filter_Max_Range = 359.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 784.377417 meters looking forward 0.000000 meters along route # Maximum depth: 784.377417 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.841975; longitude = -118.711342; captureRadius = 10; duration = 53; initialDepth = 740.431448; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.629733 # Actual altitude: 86.629733 # Commanded vehicle depth:700 # Seafloor depth:-784.377417 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 346.52; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.65; MB_Bottom_Detect_Filter_Max_Range = 346.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 259.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 780.431448 meters looking forward 0.000000 meters along route # Maximum depth: 780.431448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.842426; longitude = -118.711412; captureRadius = 10; duration = 53; initialDepth = 737.669493; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.377417 # Actual altitude: 84.377417 # Commanded vehicle depth:700 # Seafloor depth:-780.431448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 337.51; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.75; MB_Bottom_Detect_Filter_Max_Range = 337.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 253.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 777.669493 meters looking forward 0.000000 meters along route # Maximum depth: 777.669493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.842877; longitude = -118.711482; captureRadius = 10; duration = 53; initialDepth = 734.324839; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.431448 # Actual altitude: 80.431448 # Commanded vehicle depth:700 # Seafloor depth:-777.669493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 321.73; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.17; MB_Bottom_Detect_Filter_Max_Range = 321.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 774.324839 meters looking forward 0.000000 meters along route # Maximum depth: 774.324839 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.843328; longitude = -118.711552; captureRadius = 10; duration = 53; initialDepth = 731.631748; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.669493 # Actual altitude: 77.669493 # Commanded vehicle depth:700 # Seafloor depth:-774.324839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 310.68; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.07; MB_Bottom_Detect_Filter_Max_Range = 310.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 771.631748 meters looking forward 0.000000 meters along route # Maximum depth: 771.631748 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.843779; longitude = -118.711622; captureRadius = 10; duration = 53; initialDepth = 729.652179; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.324839 # Actual altitude: 74.324839 # Commanded vehicle depth:700 # Seafloor depth:-771.631748 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 297.30; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.73; MB_Bottom_Detect_Filter_Max_Range = 297.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 769.652179 meters looking forward 0.000000 meters along route # Maximum depth: 769.652179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.844230; longitude = -118.711691; captureRadius = 10; duration = 53; initialDepth = 727.244758; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.631748 # Actual altitude: 71.631748 # Commanded vehicle depth:700 # Seafloor depth:-769.652179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 286.53; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.65; MB_Bottom_Detect_Filter_Max_Range = 286.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 767.244758 meters looking forward 0.000000 meters along route # Maximum depth: 767.244758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.844681; longitude = -118.711761; captureRadius = 10; duration = 53; initialDepth = 723.834250; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.652179 # Actual altitude: 69.652179 # Commanded vehicle depth:700 # Seafloor depth:-767.244758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 278.61; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.86; MB_Bottom_Detect_Filter_Max_Range = 278.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 763.834250 meters looking forward 0.000000 meters along route # Maximum depth: 763.834250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.845132; longitude = -118.711831; captureRadius = 10; duration = 53; initialDepth = 719.017093; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.244758 # Actual altitude: 67.244758 # Commanded vehicle depth:700 # Seafloor depth:-763.834250 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 268.98; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.90; MB_Bottom_Detect_Filter_Max_Range = 268.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 759.017093 meters looking forward 0.000000 meters along route # Maximum depth: 759.017093 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.845583; longitude = -118.711901; captureRadius = 10; duration = 53; initialDepth = 713.905023; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.83425 # Actual altitude: 63.83425 # Commanded vehicle depth:700 # Seafloor depth:-759.017093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 255.34; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.53; MB_Bottom_Detect_Filter_Max_Range = 255.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 191.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 753.905023 meters looking forward 0.000000 meters along route # Maximum depth: 753.905023 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.846034; longitude = -118.711971; captureRadius = 10; duration = 53; initialDepth = 709.456455; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.017093 # Actual altitude: 59.017093 # Commanded vehicle depth:700 # Seafloor depth:-753.905023 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.07; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.61; MB_Bottom_Detect_Filter_Max_Range = 236.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 749.456455 meters looking forward 0.000000 meters along route # Maximum depth: 749.456455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.846484; longitude = -118.712041; captureRadius = 10; duration = 53; initialDepth = 705.167802; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.905023 # Actual altitude: 53.905023 # Commanded vehicle depth:700 # Seafloor depth:-749.456455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.62; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.56; MB_Bottom_Detect_Filter_Max_Range = 215.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 745.167802 meters looking forward 0.000000 meters along route # Maximum depth: 745.167802 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.846935; longitude = -118.712111; captureRadius = 10; duration = 53; initialDepth = 701.304346; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.456455 # Actual altitude: 50 # Commanded vehicle depth:700 # Seafloor depth:-745.167802 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 741.304346 meters looking forward 0.000000 meters along route # Maximum depth: 741.304346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.847386; longitude = -118.712180; captureRadius = 10; duration = 53; initialDepth = 697.805441; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.1678020000001 # Actual altitude: 50 # Commanded vehicle depth:700 # Seafloor depth:-741.304346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 737.805441 meters looking forward 0.000000 meters along route # Maximum depth: 737.805441 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.805441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847837; longitude = -118.712250; captureRadius = 10; duration = 53; initialDepth = 692.875373; finalDepth = 697.805441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.304346 # Actual altitude: 50 # Commanded vehicle depth:697.805441 # Seafloor depth:-737.805441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 732.875373 meters looking forward 0.000000 meters along route # Maximum depth: 732.875373 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.875373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848288; longitude = -118.712320; captureRadius = 10; duration = 53; initialDepth = 688.830226; finalDepth = 692.875373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:692.875373 # Seafloor depth:-732.875373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 728.830226 meters looking forward 0.000000 meters along route # Maximum depth: 728.830226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.830226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848739; longitude = -118.712390; captureRadius = 10; duration = 53; initialDepth = 685.007044; finalDepth = 688.830226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.830226 # Seafloor depth:-728.830226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 725.007044 meters looking forward 0.000000 meters along route # Maximum depth: 725.007044 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.007044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849190; longitude = -118.712460; captureRadius = 10; duration = 53; initialDepth = 681.044152; finalDepth = 685.007044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:685.007044 # Seafloor depth:-725.007044 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 721.044152 meters looking forward 0.000000 meters along route # Maximum depth: 721.044152 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.044152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849641; longitude = -118.712530; captureRadius = 10; duration = 53; initialDepth = 678.323697; finalDepth = 681.044152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:681.044152 # Seafloor depth:-721.044152 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 718.323697 meters looking forward 0.000000 meters along route # Maximum depth: 718.323697 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.323697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850092; longitude = -118.712600; captureRadius = 10; duration = 53; initialDepth = 675.375356; finalDepth = 678.323697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:678.323697 # Seafloor depth:-718.323697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 715.375356 meters looking forward 0.000000 meters along route # Maximum depth: 715.375356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.375356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850543; longitude = -118.712669; captureRadius = 10; duration = 53; initialDepth = 673.029604; finalDepth = 675.375356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:675.375356 # Seafloor depth:-715.375356 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 713.029604 meters looking forward 0.000000 meters along route # Maximum depth: 713.029604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.029604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850994; longitude = -118.712739; captureRadius = 10; duration = 53; initialDepth = 670.960812; finalDepth = 673.029604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:673.029604 # Seafloor depth:-713.029604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 710.960812 meters looking forward 0.000000 meters along route # Maximum depth: 710.960812 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 670.960812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851444; longitude = -118.712809; captureRadius = 10; duration = 53; initialDepth = 669.067162; finalDepth = 670.960812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:670.960812 # Seafloor depth:-710.960812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 709.067162 meters looking forward 0.000000 meters along route # Maximum depth: 709.067162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 669.067162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851895; longitude = -118.712879; captureRadius = 10; duration = 53; initialDepth = 667.407754; finalDepth = 669.067162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:669.067162 # Seafloor depth:-709.067162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 707.407754 meters looking forward 0.000000 meters along route # Maximum depth: 707.407754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 667.407754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852346; longitude = -118.712949; captureRadius = 10; duration = 53; initialDepth = 665.099963; finalDepth = 667.407754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:667.407754 # Seafloor depth:-707.407754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 705.099963 meters looking forward 0.000000 meters along route # Maximum depth: 705.099963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.099963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852797; longitude = -118.713019; captureRadius = 10; duration = 53; initialDepth = 662.854867; finalDepth = 665.099963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:665.099963 # Seafloor depth:-705.099963 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 702.854867 meters looking forward 0.000000 meters along route # Maximum depth: 702.854867 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 662.854867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853248; longitude = -118.713089; captureRadius = 10; duration = 53; initialDepth = 660.111066; finalDepth = 662.854867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:662.854867 # Seafloor depth:-702.854867 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 700.111066 meters looking forward 0.000000 meters along route # Maximum depth: 700.111066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 660.111066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853699; longitude = -118.713158; captureRadius = 10; duration = 53; initialDepth = 656.687059; finalDepth = 660.111066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:660.111066 # Seafloor depth:-700.111066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 696.687059 meters looking forward 0.000000 meters along route # Maximum depth: 696.687059 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 656.687059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854150; longitude = -118.713228; captureRadius = 10; duration = 53; initialDepth = 652.517502; finalDepth = 656.687059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:656.687059 # Seafloor depth:-696.687059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 692.517502 meters looking forward 0.000000 meters along route # Maximum depth: 692.517502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 652.517502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854601; longitude = -118.713298; captureRadius = 10; duration = 53; initialDepth = 647.859780; finalDepth = 652.517502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:652.517502 # Seafloor depth:-692.517502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 687.859780 meters looking forward 0.000000 meters along route # Maximum depth: 687.859780 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.859780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855052; longitude = -118.713368; captureRadius = 10; duration = 53; initialDepth = 644.543632; finalDepth = 647.859780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:647.85978 # Seafloor depth:-687.859780 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 684.543632 meters looking forward 0.000000 meters along route # Maximum depth: 684.543632 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.543632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855503; longitude = -118.713438; captureRadius = 10; duration = 53; initialDepth = 639.661322; finalDepth = 644.543632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:644.543632 # Seafloor depth:-684.543632 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 679.661322 meters looking forward 0.000000 meters along route # Maximum depth: 679.661322 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 639.661322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855954; longitude = -118.713508; captureRadius = 10; duration = 53; initialDepth = 635.267656; finalDepth = 639.661322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:639.661322 # Seafloor depth:-679.661322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 675.267656 meters looking forward 0.000000 meters along route # Maximum depth: 675.267656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.267656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856404; longitude = -118.713577; captureRadius = 10; duration = 53; initialDepth = 630.961258; finalDepth = 635.267656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:635.267656 # Seafloor depth:-675.267656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 670.961258 meters looking forward 0.000000 meters along route # Maximum depth: 670.961258 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.961258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856855; longitude = -118.713647; captureRadius = 10; duration = 53; initialDepth = 626.812781; finalDepth = 630.961258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:630.961258 # Seafloor depth:-670.961258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 666.812781 meters looking forward 0.000000 meters along route # Maximum depth: 666.812781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 626.812781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857306; longitude = -118.713717; captureRadius = 10; duration = 53; initialDepth = 621.712386; finalDepth = 626.812781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:626.812781 # Seafloor depth:-666.812781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 661.712386 meters looking forward 0.000000 meters along route # Maximum depth: 661.712386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.712386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857757; longitude = -118.713787; captureRadius = 10; duration = 53; initialDepth = 618.275364; finalDepth = 621.712386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:621.712386 # Seafloor depth:-661.712386 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 658.275364 meters looking forward 0.000000 meters along route # Maximum depth: 658.275364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 618.275364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858208; longitude = -118.713857; captureRadius = 10; duration = 53; initialDepth = 616.199530; finalDepth = 618.275364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:618.275364 # Seafloor depth:-658.275364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 656.199530 meters looking forward 0.000000 meters along route # Maximum depth: 656.199530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.199530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858659; longitude = -118.713927; captureRadius = 10; duration = 53; initialDepth = 616.708177; finalDepth = 616.199530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:616.19953 # Seafloor depth:-656.199530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 656.708177 meters looking forward 0.000000 meters along route # Maximum depth: 656.708177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.708177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859110; longitude = -118.713997; captureRadius = 10; duration = 53; initialDepth = 619.163381; finalDepth = 616.708177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:616.708177 # Seafloor depth:-656.708177 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 659.163381 meters looking forward 0.000000 meters along route # Maximum depth: 659.163381 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.163381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859561; longitude = -118.714066; captureRadius = 10; duration = 53; initialDepth = 622.116309; finalDepth = 619.163381; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.163381 # Seafloor depth:-659.163381 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 662.116309 meters looking forward 0.000000 meters along route # Maximum depth: 662.116309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.116309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860012; longitude = -118.714136; captureRadius = 10; duration = 53; initialDepth = 624.302104; finalDepth = 622.116309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:622.116309 # Seafloor depth:-662.116309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 664.302104 meters looking forward 0.000000 meters along route # Maximum depth: 664.302104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.302104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860463; longitude = -118.714206; captureRadius = 10; duration = 53; initialDepth = 625.194669; finalDepth = 624.302104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:624.302104 # Seafloor depth:-664.302104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 665.194669 meters looking forward 0.000000 meters along route # Maximum depth: 665.194669 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 625.194669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860913; longitude = -118.714276; captureRadius = 10; duration = 53; initialDepth = 625.317679; finalDepth = 625.194669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:625.194669 # Seafloor depth:-665.194669 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 665.317679 meters looking forward 0.000000 meters along route # Maximum depth: 665.317679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 625.317679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861367; longitude = -118.714346; captureRadius = 10; duration = 53; initialDepth = 624.799536; finalDepth = 625.317679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:625.317679 # Seafloor depth:-665.317679 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 664.799536 meters looking forward 0.000000 meters along route # Maximum depth: 664.799536 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.799536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861815; longitude = -118.714416; captureRadius = 10; duration = 53; initialDepth = 622.683866; finalDepth = 624.799536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:624.799536 # Seafloor depth:-664.799536 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 662.683866 meters looking forward 0.000000 meters along route # Maximum depth: 662.683866 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.683866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862266; longitude = -118.714486; captureRadius = 10; duration = 53; initialDepth = 618.679098; finalDepth = 622.683866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:622.683866 # Seafloor depth:-662.683866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 658.679098 meters looking forward 0.000000 meters along route # Maximum depth: 658.679098 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 618.679098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862717; longitude = -118.714555; captureRadius = 10; duration = 53; initialDepth = 613.632140; finalDepth = 618.679098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:618.679098 # Seafloor depth:-658.679098 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 653.632140 meters looking forward 0.000000 meters along route # Maximum depth: 653.632140 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 613.632140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863168; longitude = -118.714625; captureRadius = 10; duration = 53; initialDepth = 607.768224; finalDepth = 613.632140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:613.63214 # Seafloor depth:-653.632140 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 647.768224 meters looking forward 0.000000 meters along route # Maximum depth: 647.768224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.768224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863619; longitude = -118.714695; captureRadius = 10; duration = 53; initialDepth = 602.733284; finalDepth = 607.768224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:607.768224 # Seafloor depth:-647.768224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 642.733284 meters looking forward 0.000000 meters along route # Maximum depth: 642.733284 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 602.733284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864070; longitude = -118.714765; captureRadius = 10; duration = 53; initialDepth = 596.840819; finalDepth = 602.733284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:602.733284 # Seafloor depth:-642.733284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 636.840819 meters looking forward 0.000000 meters along route # Maximum depth: 636.840819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.840819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864521; longitude = -118.714835; captureRadius = 10; duration = 53; initialDepth = 591.053930; finalDepth = 596.840819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.840819 # Seafloor depth:-636.840819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 631.053930 meters looking forward 0.000000 meters along route # Maximum depth: 631.053930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.053930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864972; longitude = -118.714905; captureRadius = 10; duration = 53; initialDepth = 586.787732; finalDepth = 591.053930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.05393 # Seafloor depth:-631.053930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 626.787732 meters looking forward 0.000000 meters along route # Maximum depth: 626.787732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.787732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865423; longitude = -118.714975; captureRadius = 10; duration = 53; initialDepth = 587.720607; finalDepth = 586.787732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.787732 # Seafloor depth:-626.787732 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 627.720607 meters looking forward 0.000000 meters along route # Maximum depth: 627.720607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.720607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865873; longitude = -118.715044; captureRadius = 10; duration = 53; initialDepth = 587.206289; finalDepth = 587.720607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.720607 # Seafloor depth:-627.720607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 627.206289 meters looking forward 0.000000 meters along route # Maximum depth: 627.206289 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.206289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866324; longitude = -118.715114; captureRadius = 10; duration = 53; initialDepth = 584.737931; finalDepth = 587.206289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.206289 # Seafloor depth:-627.206289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 624.737931 meters looking forward 0.000000 meters along route # Maximum depth: 624.737931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.737931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866775; longitude = -118.715184; captureRadius = 10; duration = 53; initialDepth = 580.956202; finalDepth = 584.737931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.737931 # Seafloor depth:-624.737931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 620.956202 meters looking forward 0.000000 meters along route # Maximum depth: 620.956202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.956202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867226; longitude = -118.715254; captureRadius = 10; duration = 53; initialDepth = 576.204170; finalDepth = 580.956202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.956202 # Seafloor depth:-620.956202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 616.204170 meters looking forward 0.000000 meters along route # Maximum depth: 616.204170 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.204170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867677; longitude = -118.715324; captureRadius = 10; duration = 53; initialDepth = 571.479987; finalDepth = 576.204170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.20417 # Seafloor depth:-616.204170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 611.479987 meters looking forward 0.000000 meters along route # Maximum depth: 611.479987 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.479987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868128; longitude = -118.715394; captureRadius = 10; duration = 53; initialDepth = 567.535471; finalDepth = 571.479987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.479987 # Seafloor depth:-611.479987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 607.535471 meters looking forward 0.000000 meters along route # Maximum depth: 607.535471 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 567.535471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868579; longitude = -118.715464; captureRadius = 10; duration = 53; initialDepth = 564.914154; finalDepth = 567.535471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:567.535471 # Seafloor depth:-607.535471 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 604.914154 meters looking forward 0.000000 meters along route # Maximum depth: 604.914154 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.914154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869030; longitude = -118.715533; captureRadius = 10; duration = 53; initialDepth = 562.150211; finalDepth = 564.914154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:564.914154 # Seafloor depth:-604.914154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 602.150211 meters looking forward 0.000000 meters along route # Maximum depth: 602.150211 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.150211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869481; longitude = -118.715603; captureRadius = 10; duration = 53; initialDepth = 560.093312; finalDepth = 562.150211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:562.150211 # Seafloor depth:-602.150211 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 600.093312 meters looking forward 0.000000 meters along route # Maximum depth: 600.093312 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.093312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869932; longitude = -118.715673; captureRadius = 10; duration = 53; initialDepth = 558.189979; finalDepth = 560.093312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.093312 # Seafloor depth:-600.093312 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 598.189979 meters looking forward 0.000000 meters along route # Maximum depth: 598.189979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.189979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870382; longitude = -118.715743; captureRadius = 10; duration = 53; initialDepth = 555.979433; finalDepth = 558.189979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.189979 # Seafloor depth:-598.189979 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 595.979433 meters looking forward 0.000000 meters along route # Maximum depth: 595.979433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.979433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870833; longitude = -118.715813; captureRadius = 10; duration = 53; initialDepth = 554.123519; finalDepth = 555.979433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:555.979433 # Seafloor depth:-595.979433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 594.123519 meters looking forward 0.000000 meters along route # Maximum depth: 594.123519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.123519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871284; longitude = -118.715883; captureRadius = 10; duration = 53; initialDepth = 552.215677; finalDepth = 554.123519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.123519 # Seafloor depth:-594.123519 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 592.215677 meters looking forward 0.000000 meters along route # Maximum depth: 592.215677 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.215677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871735; longitude = -118.715953; captureRadius = 10; duration = 53; initialDepth = 550.688342; finalDepth = 552.215677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.215677 # Seafloor depth:-592.215677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 590.688342 meters looking forward 0.000000 meters along route # Maximum depth: 590.688342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.688342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872186; longitude = -118.716022; captureRadius = 10; duration = 53; initialDepth = 549.129471; finalDepth = 550.688342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:550.688342 # Seafloor depth:-590.688342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 589.129471 meters looking forward 0.000000 meters along route # Maximum depth: 589.129471 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.129471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872637; longitude = -118.716092; captureRadius = 10; duration = 53; initialDepth = 547.696471; finalDepth = 549.129471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:549.129471 # Seafloor depth:-589.129471 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 587.696471 meters looking forward 0.000000 meters along route # Maximum depth: 587.696471 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.696471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873088; longitude = -118.716162; captureRadius = 10; duration = 53; initialDepth = 546.971493; finalDepth = 547.696471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.696471 # Seafloor depth:-587.696471 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 586.971493 meters looking forward 0.000000 meters along route # Maximum depth: 586.971493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.971493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873539; longitude = -118.716232; captureRadius = 10; duration = 53; initialDepth = 545.711393; finalDepth = 546.971493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:546.971493 # Seafloor depth:-586.971493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 585.711393 meters looking forward 0.000000 meters along route # Maximum depth: 585.711393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.711393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873990; longitude = -118.716302; captureRadius = 10; duration = 53; initialDepth = 544.448573; finalDepth = 545.711393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.711393 # Seafloor depth:-585.711393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 584.448573 meters looking forward 0.000000 meters along route # Maximum depth: 584.448573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.448573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874441; longitude = -118.716372; captureRadius = 10; duration = 53; initialDepth = 543.201429; finalDepth = 544.448573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:544.448573 # Seafloor depth:-584.448573 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 583.201429 meters looking forward 0.000000 meters along route # Maximum depth: 583.201429 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.201429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874892; longitude = -118.716441; captureRadius = 10; duration = 53; initialDepth = 542.290382; finalDepth = 543.201429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.201429 # Seafloor depth:-583.201429 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 582.290382 meters looking forward 0.000000 meters along route # Maximum depth: 582.290382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.290382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875342; longitude = -118.716511; captureRadius = 10; duration = 53; initialDepth = 539.836779; finalDepth = 542.290382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.290382 # Seafloor depth:-582.290382 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 579.836779 meters looking forward 0.000000 meters along route # Maximum depth: 579.836779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.836779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875793; longitude = -118.716581; captureRadius = 10; duration = 53; initialDepth = 538.160800; finalDepth = 539.836779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.836779 # Seafloor depth:-579.836779 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 578.160800 meters looking forward 0.000000 meters along route # Maximum depth: 578.160800 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.160800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876244; longitude = -118.716651; captureRadius = 10; duration = 53; initialDepth = 537.696466; finalDepth = 538.160800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.1608 # Seafloor depth:-578.160800 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 577.696466 meters looking forward 0.000000 meters along route # Maximum depth: 577.696466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.696466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876695; longitude = -118.716721; captureRadius = 10; duration = 53; initialDepth = 536.870638; finalDepth = 537.696466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.696466 # Seafloor depth:-577.696466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 576.870638 meters looking forward 0.000000 meters along route # Maximum depth: 576.870638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.870638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877146; longitude = -118.716791; captureRadius = 10; duration = 53; initialDepth = 535.599679; finalDepth = 536.870638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.870638 # Seafloor depth:-576.870638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 575.599679 meters looking forward 0.000000 meters along route # Maximum depth: 575.599679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.599679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877597; longitude = -118.716861; captureRadius = 10; duration = 53; initialDepth = 534.161627; finalDepth = 535.599679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:535.599679 # Seafloor depth:-575.599679 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 574.161627 meters looking forward 0.000000 meters along route # Maximum depth: 574.161627 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.161627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878048; longitude = -118.716930; captureRadius = 10; duration = 53; initialDepth = 533.244747; finalDepth = 534.161627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.161627 # Seafloor depth:-574.161627 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 573.244747 meters looking forward 0.000000 meters along route # Maximum depth: 573.244747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.244747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878499; longitude = -118.717000; captureRadius = 10; duration = 53; initialDepth = 531.984159; finalDepth = 533.244747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:533.244747 # Seafloor depth:-573.244747 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 571.984159 meters looking forward 0.000000 meters along route # Maximum depth: 571.984159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.984159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878950; longitude = -118.717070; captureRadius = 10; duration = 53; initialDepth = 530.874496; finalDepth = 531.984159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:531.984159 # Seafloor depth:-571.984159 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 570.874496 meters looking forward 0.000000 meters along route # Maximum depth: 570.874496 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.874496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879401; longitude = -118.717140; captureRadius = 10; duration = 53; initialDepth = 529.919259; finalDepth = 530.874496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.874496 # Seafloor depth:-570.874496 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 569.919259 meters looking forward 0.000000 meters along route # Maximum depth: 569.919259 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.919259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879851; longitude = -118.717210; captureRadius = 10; duration = 53; initialDepth = 529.651873; finalDepth = 529.919259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:529.919259 # Seafloor depth:-569.919259 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 569.651873 meters looking forward 0.000000 meters along route # Maximum depth: 569.651873 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.651873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880302; longitude = -118.717280; captureRadius = 10; duration = 53; initialDepth = 528.447751; finalDepth = 529.651873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:529.651873 # Seafloor depth:-569.651873 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 568.447751 meters looking forward 0.000000 meters along route # Maximum depth: 568.447751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.447751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880753; longitude = -118.717350; captureRadius = 10; duration = 53; initialDepth = 526.638922; finalDepth = 528.447751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:528.447751 # Seafloor depth:-568.447751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 566.638922 meters looking forward 0.000000 meters along route # Maximum depth: 566.638922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 526.638922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881204; longitude = -118.717419; captureRadius = 10; duration = 53; initialDepth = 526.284897; finalDepth = 526.638922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:526.638922 # Seafloor depth:-566.638922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 566.284897 meters looking forward 0.000000 meters along route # Maximum depth: 566.284897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 526.284897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881655; longitude = -118.717489; captureRadius = 10; duration = 53; initialDepth = 524.985906; finalDepth = 526.284897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:526.284897 # Seafloor depth:-566.284897 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 564.985906 meters looking forward 0.000000 meters along route # Maximum depth: 564.985906 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 524.985906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882106; longitude = -118.717559; captureRadius = 10; duration = 53; initialDepth = 523.426813; finalDepth = 524.985906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:524.985906 # Seafloor depth:-564.985906 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 563.426813 meters looking forward 0.000000 meters along route # Maximum depth: 563.426813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.426813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882557; longitude = -118.717629; captureRadius = 10; duration = 53; initialDepth = 522.810840; finalDepth = 523.426813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:523.426813 # Seafloor depth:-563.426813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 562.810840 meters looking forward 0.000000 meters along route # Maximum depth: 562.810840 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.810840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883008; longitude = -118.717699; captureRadius = 10; duration = 53; initialDepth = 522.602252; finalDepth = 522.810840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.81084 # Seafloor depth:-562.810840 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 562.602252 meters looking forward 0.000000 meters along route # Maximum depth: 562.602252 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.602252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883459; longitude = -118.717769; captureRadius = 10; duration = 53; initialDepth = 522.321179; finalDepth = 522.602252; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.602252 # Seafloor depth:-562.602252 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 562.321179 meters looking forward 0.000000 meters along route # Maximum depth: 562.321179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.321179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883910; longitude = -118.717839; captureRadius = 10; duration = 53; initialDepth = 520.543726; finalDepth = 522.321179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.321179 # Seafloor depth:-562.321179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 53.687574 meters # Minimum depth: 560.543726 meters looking forward 0.000000 meters along route # Maximum depth: 560.543726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.543726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884378; longitude = -118.717911; captureRadius = 10; duration = 53; initialDepth = 519.497330; finalDepth = 520.543726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:520.543726 # Seafloor depth:-560.543726 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 72 # Segment length 53.687574 meters # Minimum depth: 559.497330 meters looking forward 0.000000 meters along route # Maximum depth: 559.497330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 519.497330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884842; longitude = -118.717983; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 518.826880; finalDepth = 519.497330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:519.49733 # Seafloor depth:-559.497330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 53.687574 meters # Minimum depth: 558.826880 meters looking forward 0.000000 meters along route # Maximum depth: 558.826880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.826880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884886; longitude = -118.717695; captureRadius = 10; duration = 53; initialDepth = 516.336789; finalDepth = 518.826880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.82688 # Seafloor depth:-558.826880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 53.687574 meters # Minimum depth: 556.336789 meters looking forward 0.000000 meters along route # Maximum depth: 556.336789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.336789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884967; longitude = -118.717155; captureRadius = 10; duration = 53; initialDepth = 514.527534; finalDepth = 516.336789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:516.336789 # Seafloor depth:-556.336789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 53.687574 meters # Minimum depth: 554.527534 meters looking forward 0.000000 meters along route # Maximum depth: 554.527534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.527534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885049; longitude = -118.716615; captureRadius = 10; duration = 53; initialDepth = 514.053986; finalDepth = 514.527534; 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:514.527534 # Seafloor depth:-554.527534 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 71 # Segment length 53.687574 meters # Minimum depth: 554.053986 meters looking forward 0.000000 meters along route # Maximum depth: 554.053986 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.053986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885142; longitude = -118.716003; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 513.964279; finalDepth = 514.053986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:514.053986 # Seafloor depth:-554.053986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 553.964279 meters looking forward 0.000000 meters along route # Maximum depth: 553.964279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.964279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884902; longitude = -118.715965; captureRadius = 10; duration = 53; initialDepth = 514.201394; finalDepth = 513.964279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.964279 # Seafloor depth:-553.964279 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 554.201394 meters looking forward 0.000000 meters along route # Maximum depth: 554.201394 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.201394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884451; longitude = -118.715895; captureRadius = 10; duration = 53; initialDepth = 515.761374; finalDepth = 514.201394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:514.201394 # Seafloor depth:-554.201394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 555.761374 meters looking forward 0.000000 meters along route # Maximum depth: 555.761374 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.761374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884000; longitude = -118.715825; captureRadius = 10; duration = 53; initialDepth = 517.070733; finalDepth = 515.761374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:515.761374 # Seafloor depth:-555.761374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 557.070733 meters looking forward 0.000000 meters along route # Maximum depth: 557.070733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.070733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883549; longitude = -118.715754; captureRadius = 10; duration = 53; initialDepth = 517.515588; finalDepth = 517.070733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:517.070733 # Seafloor depth:-557.070733 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 557.515588 meters looking forward 0.000000 meters along route # Maximum depth: 557.515588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.515588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883098; longitude = -118.715684; captureRadius = 10; duration = 53; initialDepth = 518.146871; finalDepth = 517.515588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:517.515588 # Seafloor depth:-557.515588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 558.146871 meters looking forward 0.000000 meters along route # Maximum depth: 558.146871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.146871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882647; longitude = -118.715614; captureRadius = 10; duration = 53; initialDepth = 517.901465; finalDepth = 518.146871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.146871 # Seafloor depth:-558.146871 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 557.901465 meters looking forward 0.000000 meters along route # Maximum depth: 557.901465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.901465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882196; longitude = -118.715543; captureRadius = 10; duration = 53; initialDepth = 518.739990; finalDepth = 517.901465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:517.901465 # Seafloor depth:-557.901465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 558.739990 meters looking forward 0.000000 meters along route # Maximum depth: 558.739990 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.739990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881745; longitude = -118.715473; captureRadius = 10; duration = 53; initialDepth = 520.171246; finalDepth = 518.739990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.73999 # Seafloor depth:-558.739990 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 560.171246 meters looking forward 0.000000 meters along route # Maximum depth: 560.171246 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.171246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881294; longitude = -118.715403; captureRadius = 10; duration = 53; initialDepth = 522.069546; finalDepth = 520.171246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:520.171246 # Seafloor depth:-560.171246 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 562.069546 meters looking forward 0.000000 meters along route # Maximum depth: 562.069546 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.069546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880843; longitude = -118.715332; captureRadius = 10; duration = 53; initialDepth = 523.161625; finalDepth = 522.069546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.069546 # Seafloor depth:-562.069546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 563.161625 meters looking forward 0.000000 meters along route # Maximum depth: 563.161625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.161625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880393; longitude = -118.715262; captureRadius = 10; duration = 53; initialDepth = 525.033741; finalDepth = 523.161625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:523.161625 # Seafloor depth:-563.161625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 565.033741 meters looking forward 0.000000 meters along route # Maximum depth: 565.033741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.033741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879942; longitude = -118.715191; captureRadius = 10; duration = 53; initialDepth = 526.923071; finalDepth = 525.033741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:525.033741 # Seafloor depth:-565.033741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 566.923071 meters looking forward 0.000000 meters along route # Maximum depth: 566.923071 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 526.923071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879491; longitude = -118.715121; captureRadius = 10; duration = 53; initialDepth = 527.543639; finalDepth = 526.923071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:526.923071 # Seafloor depth:-566.923071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 567.543639 meters looking forward 0.000000 meters along route # Maximum depth: 567.543639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.543639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879040; longitude = -118.715051; captureRadius = 10; duration = 53; initialDepth = 528.735933; finalDepth = 527.543639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:527.543639 # Seafloor depth:-567.543639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 568.735933 meters looking forward 0.000000 meters along route # Maximum depth: 568.735933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.735933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878589; longitude = -118.714980; captureRadius = 10; duration = 53; initialDepth = 528.870167; finalDepth = 528.735933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:528.735933 # Seafloor depth:-568.735933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 568.870167 meters looking forward 0.000000 meters along route # Maximum depth: 568.870167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.870167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878138; longitude = -118.714910; captureRadius = 10; duration = 53; initialDepth = 529.827497; finalDepth = 528.870167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:528.870167 # Seafloor depth:-568.870167 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 569.827497 meters looking forward 0.000000 meters along route # Maximum depth: 569.827497 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.827497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877687; longitude = -118.714840; captureRadius = 10; duration = 53; initialDepth = 530.772764; finalDepth = 529.827497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:529.827497 # Seafloor depth:-569.827497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 570.772764 meters looking forward 0.000000 meters along route # Maximum depth: 570.772764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.772764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877236; longitude = -118.714769; captureRadius = 10; duration = 53; initialDepth = 532.272866; finalDepth = 530.772764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.772764 # Seafloor depth:-570.772764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 572.272866 meters looking forward 0.000000 meters along route # Maximum depth: 572.272866 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.272866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876785; longitude = -118.714699; captureRadius = 10; duration = 53; initialDepth = 533.226240; finalDepth = 532.272866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:532.272866 # Seafloor depth:-572.272866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 573.226240 meters looking forward 0.000000 meters along route # Maximum depth: 573.226240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.226240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876334; longitude = -118.714628; captureRadius = 10; duration = 53; initialDepth = 534.733911; finalDepth = 533.226240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:533.22624 # Seafloor depth:-573.226240 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 574.733911 meters looking forward 0.000000 meters along route # Maximum depth: 574.733911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.733911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875884; longitude = -118.714558; captureRadius = 10; duration = 53; initialDepth = 536.903402; finalDepth = 534.733911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.733911 # Seafloor depth:-574.733911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 576.903402 meters looking forward 0.000000 meters along route # Maximum depth: 576.903402 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.903402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875433; longitude = -118.714488; captureRadius = 10; duration = 53; initialDepth = 539.467810; finalDepth = 536.903402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.903402 # Seafloor depth:-576.903402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 579.467810 meters looking forward 0.000000 meters along route # Maximum depth: 579.467810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.467810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874982; longitude = -118.714417; captureRadius = 10; duration = 53; initialDepth = 543.252060; finalDepth = 539.467810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.46781 # Seafloor depth:-579.467810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 583.252060 meters looking forward 0.000000 meters along route # Maximum depth: 583.252060 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.252060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874531; longitude = -118.714347; captureRadius = 10; duration = 53; initialDepth = 545.604193; finalDepth = 543.252060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.25206 # Seafloor depth:-583.252060 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 585.604193 meters looking forward 0.000000 meters along route # Maximum depth: 585.604193 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.604193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874080; longitude = -118.714277; captureRadius = 10; duration = 53; initialDepth = 546.847897; finalDepth = 545.604193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.604193 # Seafloor depth:-585.604193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 586.847897 meters looking forward 0.000000 meters along route # Maximum depth: 586.847897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.847897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873629; longitude = -118.714206; captureRadius = 10; duration = 53; initialDepth = 545.450056; finalDepth = 546.847897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:546.847897 # Seafloor depth:-586.847897 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 585.450056 meters looking forward 0.000000 meters along route # Maximum depth: 585.450056 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.450056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873178; longitude = -118.714136; captureRadius = 10; duration = 53; initialDepth = 546.951744; finalDepth = 545.450056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.450056 # Seafloor depth:-585.450056 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 586.951744 meters looking forward 0.000000 meters along route # Maximum depth: 586.951744 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.951744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872727; longitude = -118.714066; captureRadius = 10; duration = 53; initialDepth = 548.243828; finalDepth = 546.951744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:546.951744 # Seafloor depth:-586.951744 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 588.243828 meters looking forward 0.000000 meters along route # Maximum depth: 588.243828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.243828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872276; longitude = -118.713995; captureRadius = 10; duration = 53; initialDepth = 549.773906; finalDepth = 548.243828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:548.243828 # Seafloor depth:-588.243828 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 589.773906 meters looking forward 0.000000 meters along route # Maximum depth: 589.773906 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.773906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871825; longitude = -118.713925; captureRadius = 10; duration = 53; initialDepth = 550.377983; finalDepth = 549.773906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:549.773906 # Seafloor depth:-589.773906 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 590.377983 meters looking forward 0.000000 meters along route # Maximum depth: 590.377983 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.377983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871374; longitude = -118.713854; captureRadius = 10; duration = 53; initialDepth = 551.111206; finalDepth = 550.377983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:550.377983 # Seafloor depth:-590.377983 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 591.111206 meters looking forward 0.000000 meters along route # Maximum depth: 591.111206 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.111206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870924; longitude = -118.713784; captureRadius = 10; duration = 53; initialDepth = 551.473671; finalDepth = 551.111206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.111206 # Seafloor depth:-591.111206 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 591.473671 meters looking forward 0.000000 meters along route # Maximum depth: 591.473671 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.473671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870473; longitude = -118.713714; captureRadius = 10; duration = 53; initialDepth = 552.687257; finalDepth = 551.473671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.473671 # Seafloor depth:-591.473671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 592.687257 meters looking forward 0.000000 meters along route # Maximum depth: 592.687257 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.687257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870022; longitude = -118.713643; captureRadius = 10; duration = 53; initialDepth = 554.507738; finalDepth = 552.687257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.687257 # Seafloor depth:-592.687257 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 594.507738 meters looking forward 0.000000 meters along route # Maximum depth: 594.507738 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.507738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869571; longitude = -118.713573; captureRadius = 10; duration = 53; initialDepth = 557.995026; finalDepth = 554.507738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.507738 # Seafloor depth:-594.507738 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 597.995026 meters looking forward 0.000000 meters along route # Maximum depth: 597.995026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.995026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869120; longitude = -118.713503; captureRadius = 10; duration = 53; initialDepth = 561.436023; finalDepth = 557.995026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.995026 # Seafloor depth:-597.995026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 601.436023 meters looking forward 0.000000 meters along route # Maximum depth: 601.436023 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.436023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868669; longitude = -118.713432; captureRadius = 10; duration = 53; initialDepth = 565.483989; finalDepth = 561.436023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.436023 # Seafloor depth:-601.436023 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 605.483989 meters looking forward 0.000000 meters along route # Maximum depth: 605.483989 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.483989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868218; longitude = -118.713362; captureRadius = 10; duration = 53; initialDepth = 569.954314; finalDepth = 565.483989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.483989 # Seafloor depth:-605.483989 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 609.954314 meters looking forward 0.000000 meters along route # Maximum depth: 609.954314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.954314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867767; longitude = -118.713291; captureRadius = 10; duration = 53; initialDepth = 574.522685; finalDepth = 569.954314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.954314 # Seafloor depth:-609.954314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 614.522685 meters looking forward 0.000000 meters along route # Maximum depth: 614.522685 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.522685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867316; longitude = -118.713221; captureRadius = 10; duration = 53; initialDepth = 578.167506; finalDepth = 574.522685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.522685 # Seafloor depth:-614.522685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 618.167506 meters looking forward 0.000000 meters along route # Maximum depth: 618.167506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.167506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866865; longitude = -118.713151; captureRadius = 10; duration = 53; initialDepth = 579.608621; finalDepth = 578.167506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.167506 # Seafloor depth:-618.167506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 619.608621 meters looking forward 0.000000 meters along route # Maximum depth: 619.608621 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.608621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866415; longitude = -118.713080; captureRadius = 10; duration = 53; initialDepth = 579.767587; finalDepth = 579.608621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.608621 # Seafloor depth:-619.608621 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 619.767587 meters looking forward 0.000000 meters along route # Maximum depth: 619.767587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.767587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865964; longitude = -118.713010; captureRadius = 10; duration = 53; initialDepth = 579.157147; finalDepth = 579.767587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.767587 # Seafloor depth:-619.767587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 619.157147 meters looking forward 0.000000 meters along route # Maximum depth: 619.157147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.157147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865513; longitude = -118.712940; captureRadius = 10; duration = 53; initialDepth = 575.973610; finalDepth = 579.157147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.157147 # Seafloor depth:-619.157147 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 615.973610 meters looking forward 0.000000 meters along route # Maximum depth: 615.973610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.973610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865062; longitude = -118.712869; captureRadius = 10; duration = 53; initialDepth = 574.279414; finalDepth = 575.973610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.97361 # Seafloor depth:-615.973610 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 614.279414 meters looking forward 0.000000 meters along route # Maximum depth: 614.279414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.279414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864611; longitude = -118.712799; captureRadius = 10; duration = 53; initialDepth = 577.534937; finalDepth = 574.279414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.279414 # Seafloor depth:-614.279414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 617.534937 meters looking forward 0.000000 meters along route # Maximum depth: 617.534937 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.534937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864160; longitude = -118.712728; captureRadius = 10; duration = 53; initialDepth = 584.386753; finalDepth = 577.534937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.534937 # Seafloor depth:-617.534937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 624.386753 meters looking forward 0.000000 meters along route # Maximum depth: 624.386753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.386753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863709; longitude = -118.712658; captureRadius = 10; duration = 53; initialDepth = 591.260235; finalDepth = 584.386753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.386753 # Seafloor depth:-624.386753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 631.260235 meters looking forward 0.000000 meters along route # Maximum depth: 631.260235 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.260235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863258; longitude = -118.712588; captureRadius = 10; duration = 53; initialDepth = 598.445341; finalDepth = 591.260235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.260235 # Seafloor depth:-631.260235 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 638.445341 meters looking forward 0.000000 meters along route # Maximum depth: 638.445341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 598.445341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862807; longitude = -118.712517; captureRadius = 10; duration = 53; initialDepth = 604.921715; finalDepth = 598.445341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:598.445341 # Seafloor depth:-638.445341 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 644.921715 meters looking forward 0.000000 meters along route # Maximum depth: 644.921715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.921715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862356; longitude = -118.712447; captureRadius = 10; duration = 53; initialDepth = 610.435717; finalDepth = 604.921715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:604.921715 # Seafloor depth:-644.921715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 650.435717 meters looking forward 0.000000 meters along route # Maximum depth: 650.435717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.435717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861905; longitude = -118.712377; captureRadius = 10; duration = 53; initialDepth = 615.121351; finalDepth = 610.435717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:610.435717 # Seafloor depth:-650.435717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 655.121351 meters looking forward 0.000000 meters along route # Maximum depth: 655.121351 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 615.121351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861455; longitude = -118.712306; captureRadius = 10; duration = 53; initialDepth = 619.744211; finalDepth = 615.121351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:615.121351 # Seafloor depth:-655.121351 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 659.744211 meters looking forward 0.000000 meters along route # Maximum depth: 659.744211 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.744211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861004; longitude = -118.712236; captureRadius = 10; duration = 53; initialDepth = 623.378748; finalDepth = 619.744211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.744211 # Seafloor depth:-659.744211 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 663.378748 meters looking forward 0.000000 meters along route # Maximum depth: 663.378748 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.378748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860553; longitude = -118.712166; captureRadius = 10; duration = 53; initialDepth = 625.326517; finalDepth = 623.378748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:623.378748 # Seafloor depth:-663.378748 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 665.326517 meters looking forward 0.000000 meters along route # Maximum depth: 665.326517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 625.326517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860102; longitude = -118.712095; captureRadius = 10; duration = 53; initialDepth = 625.912523; finalDepth = 625.326517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:625.326517 # Seafloor depth:-665.326517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 665.912523 meters looking forward 0.000000 meters along route # Maximum depth: 665.912523 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 625.912523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859651; longitude = -118.712025; captureRadius = 10; duration = 53; initialDepth = 625.414353; finalDepth = 625.912523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:625.912523 # Seafloor depth:-665.912523 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 665.414353 meters looking forward 0.000000 meters along route # Maximum depth: 665.414353 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 625.414353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859200; longitude = -118.711954; captureRadius = 10; duration = 53; initialDepth = 624.094382; finalDepth = 625.414353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:625.414353 # Seafloor depth:-665.414353 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 664.094382 meters looking forward 0.000000 meters along route # Maximum depth: 664.094382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.094382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858749; longitude = -118.711884; captureRadius = 10; duration = 53; initialDepth = 623.235904; finalDepth = 624.094382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:624.094382 # Seafloor depth:-664.094382 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 663.235904 meters looking forward 0.000000 meters along route # Maximum depth: 663.235904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.235904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858298; longitude = -118.711814; captureRadius = 10; duration = 53; initialDepth = 625.445169; finalDepth = 623.235904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:623.235904 # Seafloor depth:-663.235904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 665.445169 meters looking forward 0.000000 meters along route # Maximum depth: 665.445169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 625.445169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857847; longitude = -118.711743; captureRadius = 10; duration = 53; initialDepth = 630.335241; finalDepth = 625.445169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:625.445169 # Seafloor depth:-665.445169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 670.335241 meters looking forward 0.000000 meters along route # Maximum depth: 670.335241 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.335241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857396; longitude = -118.711673; captureRadius = 10; duration = 53; initialDepth = 634.929441; finalDepth = 630.335241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:630.335241 # Seafloor depth:-670.335241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 674.929441 meters looking forward 0.000000 meters along route # Maximum depth: 674.929441 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.929441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856945; longitude = -118.711603; captureRadius = 10; duration = 53; initialDepth = 640.345256; finalDepth = 634.929441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:634.929441 # Seafloor depth:-674.929441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 680.345256 meters looking forward 0.000000 meters along route # Maximum depth: 680.345256 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 640.345256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856495; longitude = -118.711532; captureRadius = 10; duration = 53; initialDepth = 642.302864; finalDepth = 640.345256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:640.345256 # Seafloor depth:-680.345256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 682.302864 meters looking forward 0.000000 meters along route # Maximum depth: 682.302864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.302864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856044; longitude = -118.711462; captureRadius = 10; duration = 53; initialDepth = 645.731054; finalDepth = 642.302864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:642.302864 # Seafloor depth:-682.302864 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 685.731054 meters looking forward 0.000000 meters along route # Maximum depth: 685.731054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 645.731054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855593; longitude = -118.711391; captureRadius = 10; duration = 53; initialDepth = 649.993551; finalDepth = 645.731054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:645.731054 # Seafloor depth:-685.731054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 689.993551 meters looking forward 0.000000 meters along route # Maximum depth: 689.993551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.993551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855142; longitude = -118.711321; captureRadius = 10; duration = 53; initialDepth = 651.705198; finalDepth = 649.993551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:649.993551 # Seafloor depth:-689.993551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 691.705198 meters looking forward 0.000000 meters along route # Maximum depth: 691.705198 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 651.705198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854691; longitude = -118.711251; captureRadius = 10; duration = 53; initialDepth = 654.663837; finalDepth = 651.705198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:651.705198 # Seafloor depth:-691.705198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 694.663837 meters looking forward 0.000000 meters along route # Maximum depth: 694.663837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 654.663837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854240; longitude = -118.711180; captureRadius = 10; duration = 53; initialDepth = 657.839090; finalDepth = 654.663837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:654.663837 # Seafloor depth:-694.663837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 697.839090 meters looking forward 0.000000 meters along route # Maximum depth: 697.839090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 657.839090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853789; longitude = -118.711110; captureRadius = 10; duration = 53; initialDepth = 658.808552; finalDepth = 657.839090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:657.83909 # Seafloor depth:-697.839090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 698.808552 meters looking forward 0.000000 meters along route # Maximum depth: 698.808552 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 658.808552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853338; longitude = -118.711040; captureRadius = 10; duration = 53; initialDepth = 661.092962; finalDepth = 658.808552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:658.808552 # Seafloor depth:-698.808552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 701.092962 meters looking forward 0.000000 meters along route # Maximum depth: 701.092962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 661.092962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852887; longitude = -118.710969; captureRadius = 10; duration = 53; initialDepth = 663.021317; finalDepth = 661.092962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:661.092962 # Seafloor depth:-701.092962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 703.021317 meters looking forward 0.000000 meters along route # Maximum depth: 703.021317 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 663.021317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852436; longitude = -118.710899; captureRadius = 10; duration = 53; initialDepth = 664.414949; finalDepth = 663.021317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:663.021317 # Seafloor depth:-703.021317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 704.414949 meters looking forward 0.000000 meters along route # Maximum depth: 704.414949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 664.414949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851986; longitude = -118.710829; captureRadius = 10; duration = 53; initialDepth = 665.799844; finalDepth = 664.414949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:664.414949 # Seafloor depth:-704.414949 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 705.799844 meters looking forward 0.000000 meters along route # Maximum depth: 705.799844 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.799844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851535; longitude = -118.710758; captureRadius = 10; duration = 53; initialDepth = 667.146400; finalDepth = 665.799844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:665.799844 # Seafloor depth:-705.799844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 707.146400 meters looking forward 0.000000 meters along route # Maximum depth: 707.146400 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 667.146400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851084; longitude = -118.710688; captureRadius = 10; duration = 53; initialDepth = 668.485133; finalDepth = 667.146400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:667.1464 # Seafloor depth:-707.146400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 708.485133 meters looking forward 0.000000 meters along route # Maximum depth: 708.485133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 668.485133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850633; longitude = -118.710617; captureRadius = 10; duration = 53; initialDepth = 670.846195; finalDepth = 668.485133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:668.485133 # Seafloor depth:-708.485133 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 710.846195 meters looking forward 0.000000 meters along route # Maximum depth: 710.846195 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 670.846195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850182; longitude = -118.710547; captureRadius = 10; duration = 53; initialDepth = 673.217947; finalDepth = 670.846195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:670.846195 # Seafloor depth:-710.846195 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 713.217947 meters looking forward 0.000000 meters along route # Maximum depth: 713.217947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.217947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849731; longitude = -118.710477; captureRadius = 10; duration = 53; initialDepth = 675.767555; finalDepth = 673.217947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:673.217947 # Seafloor depth:-713.217947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 715.767555 meters looking forward 0.000000 meters along route # Maximum depth: 715.767555 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.767555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849280; longitude = -118.710406; captureRadius = 10; duration = 53; initialDepth = 679.318077; finalDepth = 675.767555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:675.767555 # Seafloor depth:-715.767555 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 719.318077 meters looking forward 0.000000 meters along route # Maximum depth: 719.318077 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.318077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848829; longitude = -118.710336; captureRadius = 10; duration = 53; initialDepth = 683.290751; finalDepth = 679.318077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:679.318077 # Seafloor depth:-719.318077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 723.290751 meters looking forward 0.000000 meters along route # Maximum depth: 723.290751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.290751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848378; longitude = -118.710266; captureRadius = 10; duration = 53; initialDepth = 687.767751; finalDepth = 683.290751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:683.290751 # Seafloor depth:-723.290751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 727.767751 meters looking forward 0.000000 meters along route # Maximum depth: 727.767751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.767751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847927; longitude = -118.710195; captureRadius = 10; duration = 53; initialDepth = 692.456341; finalDepth = 687.767751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:687.767751 # Seafloor depth:-727.767751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 732.456341 meters looking forward 0.000000 meters along route # Maximum depth: 732.456341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.456341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847476; longitude = -118.710125; captureRadius = 10; duration = 53; initialDepth = 698.045399; finalDepth = 692.456341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:692.456341 # Seafloor depth:-732.456341 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 738.045399 meters looking forward 0.000000 meters along route # Maximum depth: 738.045399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.045399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847026; longitude = -118.710054; captureRadius = 10; duration = 53; initialDepth = 702.932127; finalDepth = 698.045399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.045399 # Seafloor depth:-738.045399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 742.932127 meters looking forward 0.000000 meters along route # Maximum depth: 742.932127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.846575; longitude = -118.709984; captureRadius = 10; duration = 53; initialDepth = 708.749214; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.932127 # Actual altitude: 50 # Commanded vehicle depth:700 # Seafloor depth:-742.932127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 748.749214 meters looking forward 0.000000 meters along route # Maximum depth: 748.749214 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.846124; longitude = -118.709914; captureRadius = 10; duration = 53; initialDepth = 713.284027; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.7492140000001 # Actual altitude: 50 # Commanded vehicle depth:700 # Seafloor depth:-748.749214 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 753.284027 meters looking forward 0.000000 meters along route # Maximum depth: 753.284027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.845673; longitude = -118.709843; captureRadius = 10; duration = 53; initialDepth = 717.775061; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.284027 # Actual altitude: 53.284027 # Commanded vehicle depth:700 # Seafloor depth:-753.284027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.14; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.31; MB_Bottom_Detect_Filter_Max_Range = 213.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 757.775061 meters looking forward 0.000000 meters along route # Maximum depth: 757.775061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.845222; longitude = -118.709773; captureRadius = 10; duration = 53; initialDepth = 719.887473; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.7750610000001 # Actual altitude: 57.7750610000001 # Commanded vehicle depth:700 # Seafloor depth:-757.775061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.10; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.11; MB_Bottom_Detect_Filter_Max_Range = 231.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 759.887473 meters looking forward 0.000000 meters along route # Maximum depth: 759.887473 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.844771; longitude = -118.709703; captureRadius = 10; duration = 53; initialDepth = 720.935959; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.887473 # Actual altitude: 59.887473 # Commanded vehicle depth:700 # Seafloor depth:-759.887473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.55; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.95; MB_Bottom_Detect_Filter_Max_Range = 239.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 760.935959 meters looking forward 0.000000 meters along route # Maximum depth: 760.935959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.844320; longitude = -118.709632; captureRadius = 10; duration = 53; initialDepth = 722.029975; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.935959 # Actual altitude: 60.935959 # Commanded vehicle depth:700 # Seafloor depth:-760.935959 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.74; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.37; MB_Bottom_Detect_Filter_Max_Range = 243.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 762.029975 meters looking forward 0.000000 meters along route # Maximum depth: 762.029975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.843869; longitude = -118.709562; captureRadius = 10; duration = 53; initialDepth = 723.658325; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.029975 # Actual altitude: 62.029975 # Commanded vehicle depth:700 # Seafloor depth:-762.029975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.12; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.81; MB_Bottom_Detect_Filter_Max_Range = 248.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 763.658325 meters looking forward 0.000000 meters along route # Maximum depth: 763.658325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.843418; longitude = -118.709491; captureRadius = 10; duration = 53; initialDepth = 726.146113; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.658325 # Actual altitude: 63.658325 # Commanded vehicle depth:700 # Seafloor depth:-763.658325 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.63; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 254.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 766.146113 meters looking forward 0.000000 meters along route # Maximum depth: 766.146113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.842967; longitude = -118.709421; captureRadius = 10; duration = 53; initialDepth = 729.261230; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.146113 # Actual altitude: 66.146113 # Commanded vehicle depth:700 # Seafloor depth:-766.146113 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.58; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.46; MB_Bottom_Detect_Filter_Max_Range = 264.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 198.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 769.261230 meters looking forward 0.000000 meters along route # Maximum depth: 769.261230 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.842517; longitude = -118.709351; captureRadius = 10; duration = 53; initialDepth = 732.485777; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.26123 # Actual altitude: 69.26123 # Commanded vehicle depth:700 # Seafloor depth:-769.261230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 277.04; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.70; MB_Bottom_Detect_Filter_Max_Range = 277.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 772.485777 meters looking forward 0.000000 meters along route # Maximum depth: 772.485777 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.842066; longitude = -118.709280; captureRadius = 10; duration = 53; initialDepth = 735.948127; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.485777 # Actual altitude: 72.485777 # Commanded vehicle depth:700 # Seafloor depth:-772.485777 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 289.94; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.99; MB_Bottom_Detect_Filter_Max_Range = 289.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 775.948127 meters looking forward 0.000000 meters along route # Maximum depth: 775.948127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.841615; longitude = -118.709210; captureRadius = 10; duration = 53; initialDepth = 740.235070; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.948127 # Actual altitude: 75.948127 # Commanded vehicle depth:700 # Seafloor depth:-775.948127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 303.79; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.38; MB_Bottom_Detect_Filter_Max_Range = 303.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 780.235070 meters looking forward 0.000000 meters along route # Maximum depth: 780.235070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.841164; longitude = -118.709140; captureRadius = 10; duration = 53; initialDepth = 743.455728; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.23507 # Actual altitude: 80.23507 # Commanded vehicle depth:700 # Seafloor depth:-780.235070 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 320.94; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.09; MB_Bottom_Detect_Filter_Max_Range = 320.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 783.455728 meters looking forward 0.000000 meters along route # Maximum depth: 783.455728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.840713; longitude = -118.709069; captureRadius = 10; duration = 53; initialDepth = 745.774104; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.455728 # Actual altitude: 83.455728 # Commanded vehicle depth:700 # Seafloor depth:-783.455728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 333.82; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.38; MB_Bottom_Detect_Filter_Max_Range = 333.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 785.774104 meters looking forward 0.000000 meters along route # Maximum depth: 785.774104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.840262; longitude = -118.708999; captureRadius = 10; duration = 53; initialDepth = 746.546171; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.774104 # Actual altitude: 85.774104 # Commanded vehicle depth:700 # Seafloor depth:-785.774104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 343.10; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.31; MB_Bottom_Detect_Filter_Max_Range = 343.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 786.546171 meters looking forward 0.000000 meters along route # Maximum depth: 786.546171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.839811; longitude = -118.708929; captureRadius = 10; duration = 53; initialDepth = 745.109774; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.546171 # Actual altitude: 86.546171 # Commanded vehicle depth:700 # Seafloor depth:-786.546171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 346.18; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.62; MB_Bottom_Detect_Filter_Max_Range = 346.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 259.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 785.109774 meters looking forward 0.000000 meters along route # Maximum depth: 785.109774 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.839360; longitude = -118.708858; captureRadius = 10; duration = 53; initialDepth = 742.818989; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.546171 # Actual altitude: 86.546171 # Commanded vehicle depth:700 # Seafloor depth:-785.109774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 346.18; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.62; MB_Bottom_Detect_Filter_Max_Range = 346.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 259.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 782.818989 meters looking forward 0.000000 meters along route # Maximum depth: 782.818989 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.838909; longitude = -118.708788; captureRadius = 10; duration = 53; initialDepth = 742.226980; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.109774 # Actual altitude: 85.109774 # Commanded vehicle depth:700 # Seafloor depth:-782.818989 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 340.44; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.04; MB_Bottom_Detect_Filter_Max_Range = 340.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 255.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 782.226980 meters looking forward 0.000000 meters along route # Maximum depth: 782.226980 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.838458; longitude = -118.708717; captureRadius = 10; duration = 53; initialDepth = 747.433521; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.818989 # Actual altitude: 82.818989 # Commanded vehicle depth:700 # Seafloor depth:-782.226980 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 331.28; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.13; MB_Bottom_Detect_Filter_Max_Range = 331.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 787.433521 meters looking forward 0.000000 meters along route # Maximum depth: 787.433521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.838007; longitude = -118.708647; captureRadius = 10; duration = 53; initialDepth = 752.105279; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.433521 # Actual altitude: 87.433521 # Commanded vehicle depth:700 # Seafloor depth:-787.433521 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 349.73; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.97; MB_Bottom_Detect_Filter_Max_Range = 349.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 792.105279 meters looking forward 0.000000 meters along route # Maximum depth: 792.105279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.837557; longitude = -118.708577; captureRadius = 10; duration = 53; initialDepth = 759.823592; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.105279 # Actual altitude: 92.105279 # Commanded vehicle depth:700 # Seafloor depth:-792.105279 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 368.42; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.84; MB_Bottom_Detect_Filter_Max_Range = 368.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 799.823592 meters looking forward 0.000000 meters along route # Maximum depth: 799.823592 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.837106; longitude = -118.708506; captureRadius = 10; duration = 53; initialDepth = 767.633490; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.823592 # Actual altitude: 99.823592 # Commanded vehicle depth:700 # Seafloor depth:-799.823592 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 399.29; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.93; MB_Bottom_Detect_Filter_Max_Range = 399.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 299.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 807.633490 meters looking forward 0.000000 meters along route # Maximum depth: 807.633490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.836655; longitude = -118.708436; captureRadius = 10; duration = 53; initialDepth = 769.555230; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.63349 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-807.633490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 809.555230 meters looking forward 0.000000 meters along route # Maximum depth: 809.555230 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.836204; longitude = -118.708366; captureRadius = 10; duration = 53; initialDepth = 770.903820; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.55523 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-809.555230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 810.903820 meters looking forward 0.000000 meters along route # Maximum depth: 810.903820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.835753; longitude = -118.708295; captureRadius = 10; duration = 53; initialDepth = 772.269192; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.90382 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-810.903820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 812.269192 meters looking forward 0.000000 meters along route # Maximum depth: 812.269192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.835302; longitude = -118.708225; captureRadius = 10; duration = 53; initialDepth = 774.001875; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.269192 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-812.269192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 814.001875 meters looking forward 0.000000 meters along route # Maximum depth: 814.001875 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.834851; longitude = -118.708154; captureRadius = 10; duration = 53; initialDepth = 773.932270; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 114.001875 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-814.001875 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 53.687574 meters # Minimum depth: 813.932270 meters looking forward 0.000000 meters along route # Maximum depth: 813.932270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.834379; longitude = -118.708081; captureRadius = 10; duration = 53; initialDepth = 773.305817; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 114.001875 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-813.932270 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 70 # Segment length 53.687574 meters # Minimum depth: 813.305817 meters looking forward 0.000000 meters along route # Maximum depth: 813.305817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.833919; longitude = -118.708009; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 774.412622; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 113.93227 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-813.305817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 53.687574 meters # Minimum depth: 814.412622 meters looking forward 0.000000 meters along route # Maximum depth: 814.412622 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.833769; longitude = -118.707739; captureRadius = 10; duration = 53; initialDepth = 774.375605; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 114.412622 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-814.412622 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 53.687574 meters # Minimum depth: 814.375605 meters looking forward 0.000000 meters along route # Maximum depth: 814.375605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.833478; longitude = -118.707217; captureRadius = 10; duration = 53; initialDepth = 775.996276; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 114.412622 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-814.375605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 53.687574 meters # Minimum depth: 815.996276 meters looking forward 0.000000 meters along route # Maximum depth: 815.996276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.833228; longitude = -118.706766; captureRadius = 10; duration = 53; initialDepth = 776.522446; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 115.996276 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-815.996276 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 53.687574 meters # Minimum depth: 816.522446 meters looking forward 0.000000 meters along route # Maximum depth: 816.522446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.832937; longitude = -118.706244; captureRadius = 10; duration = 53; initialDepth = 776.804779; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 116.522446 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-816.522446 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 69 # Segment length 53.687574 meters # Minimum depth: 816.804779 meters looking forward 0.000000 meters along route # Maximum depth: 816.804779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.832657; longitude = -118.705740; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 776.965963; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 116.804779 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-816.804779 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 816.965963 meters looking forward 0.000000 meters along route # Maximum depth: 816.965963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.832957; longitude = -118.705787; captureRadius = 10; duration = 53; initialDepth = 774.373012; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 116.965963 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-816.965963 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 814.373012 meters looking forward 0.000000 meters along route # Maximum depth: 814.373012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.833408; longitude = -118.705857; captureRadius = 10; duration = 53; initialDepth = 774.726071; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 116.965963 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-814.373012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 814.726071 meters looking forward 0.000000 meters along route # Maximum depth: 814.726071 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.833859; longitude = -118.705927; captureRadius = 10; duration = 53; initialDepth = 775.530610; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 114.726071 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-814.726071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 815.530610 meters looking forward 0.000000 meters along route # Maximum depth: 815.530610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.834310; longitude = -118.705998; captureRadius = 10; duration = 53; initialDepth = 773.815623; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 115.53061 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-815.530610 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 813.815623 meters looking forward 0.000000 meters along route # Maximum depth: 813.815623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.834761; longitude = -118.706068; captureRadius = 10; duration = 53; initialDepth = 771.936640; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 115.53061 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-813.815623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 811.936640 meters looking forward 0.000000 meters along route # Maximum depth: 811.936640 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.835212; longitude = -118.706138; captureRadius = 10; duration = 53; initialDepth = 771.506793; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 113.815623 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-811.936640 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 811.506793 meters looking forward 0.000000 meters along route # Maximum depth: 811.506793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.835663; longitude = -118.706209; captureRadius = 10; duration = 53; initialDepth = 771.949990; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.93664 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-811.506793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 811.949990 meters looking forward 0.000000 meters along route # Maximum depth: 811.949990 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.836114; longitude = -118.706279; captureRadius = 10; duration = 53; initialDepth = 771.050712; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.94999 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-811.949990 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 811.050712 meters looking forward 0.000000 meters along route # Maximum depth: 811.050712 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.836565; longitude = -118.706349; captureRadius = 10; duration = 53; initialDepth = 769.717024; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.94999 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-811.050712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 809.717024 meters looking forward 0.000000 meters along route # Maximum depth: 809.717024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.837015; longitude = -118.706419; captureRadius = 10; duration = 53; initialDepth = 768.512609; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.050712 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-809.717024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 808.512609 meters looking forward 0.000000 meters along route # Maximum depth: 808.512609 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.837466; longitude = -118.706490; captureRadius = 10; duration = 53; initialDepth = 767.053305; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.717024 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-808.512609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 807.053305 meters looking forward 0.000000 meters along route # Maximum depth: 807.053305 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.837917; longitude = -118.706560; captureRadius = 10; duration = 53; initialDepth = 766.624536; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.512609 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-807.053305 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 806.624536 meters looking forward 0.000000 meters along route # Maximum depth: 806.624536 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.838368; longitude = -118.706630; captureRadius = 10; duration = 53; initialDepth = 763.265904; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.053305 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-806.624536 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 803.265904 meters looking forward 0.000000 meters along route # Maximum depth: 803.265904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.838819; longitude = -118.706701; captureRadius = 10; duration = 53; initialDepth = 758.831774; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.624536 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-803.265904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 798.831774 meters looking forward 0.000000 meters along route # Maximum depth: 798.831774 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.839270; longitude = -118.706771; captureRadius = 10; duration = 53; initialDepth = 753.030072; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 103.265904 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-798.831774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 793.030072 meters looking forward 0.000000 meters along route # Maximum depth: 793.030072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.839721; longitude = -118.706841; captureRadius = 10; duration = 53; initialDepth = 747.784055; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.831774 # Actual altitude: 98.831774 # Commanded vehicle depth:700 # Seafloor depth:-793.030072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 395.33; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.53; MB_Bottom_Detect_Filter_Max_Range = 395.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 296.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 787.784055 meters looking forward 0.000000 meters along route # Maximum depth: 787.784055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.840172; longitude = -118.706911; captureRadius = 10; duration = 53; initialDepth = 742.370409; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.030072 # Actual altitude: 93.030072 # Commanded vehicle depth:700 # Seafloor depth:-787.784055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 372.12; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.21; MB_Bottom_Detect_Filter_Max_Range = 372.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 782.370409 meters looking forward 0.000000 meters along route # Maximum depth: 782.370409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.840623; longitude = -118.706982; captureRadius = 10; duration = 53; initialDepth = 737.111239; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.784055 # Actual altitude: 87.784055 # Commanded vehicle depth:700 # Seafloor depth:-782.370409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 351.14; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.11; MB_Bottom_Detect_Filter_Max_Range = 351.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 777.111239 meters looking forward 0.000000 meters along route # Maximum depth: 777.111239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.841074; longitude = -118.707052; captureRadius = 10; duration = 53; initialDepth = 729.360878; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.370409 # Actual altitude: 82.370409 # Commanded vehicle depth:700 # Seafloor depth:-777.111239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 329.48; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.95; MB_Bottom_Detect_Filter_Max_Range = 329.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 769.360878 meters looking forward 0.000000 meters along route # Maximum depth: 769.360878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.841525; longitude = -118.707122; captureRadius = 10; duration = 53; initialDepth = 723.048563; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.111239 # Actual altitude: 77.111239 # Commanded vehicle depth:700 # Seafloor depth:-769.360878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 308.44; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.84; MB_Bottom_Detect_Filter_Max_Range = 308.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 763.048563 meters looking forward 0.000000 meters along route # Maximum depth: 763.048563 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.841975; longitude = -118.707193; captureRadius = 10; duration = 53; initialDepth = 716.887320; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.360878 # Actual altitude: 69.360878 # Commanded vehicle depth:700 # Seafloor depth:-763.048563 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 277.44; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.74; MB_Bottom_Detect_Filter_Max_Range = 277.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 756.887320 meters looking forward 0.000000 meters along route # Maximum depth: 756.887320 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.842426; longitude = -118.707263; captureRadius = 10; duration = 53; initialDepth = 713.465719; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.0485629999999 # Actual altitude: 63.0485629999999 # Commanded vehicle depth:700 # Seafloor depth:-756.887320 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.19; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.22; MB_Bottom_Detect_Filter_Max_Range = 252.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 189.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 753.465719 meters looking forward 0.000000 meters along route # Maximum depth: 753.465719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.842877; longitude = -118.707333; captureRadius = 10; duration = 53; initialDepth = 710.877873; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.88732 # Actual altitude: 56.88732 # Commanded vehicle depth:700 # Seafloor depth:-753.465719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.55; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.75; MB_Bottom_Detect_Filter_Max_Range = 227.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 750.877873 meters looking forward 0.000000 meters along route # Maximum depth: 750.877873 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.843328; longitude = -118.707404; captureRadius = 10; duration = 53; initialDepth = 709.266152; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.465719 # Actual altitude: 53.465719 # Commanded vehicle depth:700 # Seafloor depth:-750.877873 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.86; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.39; MB_Bottom_Detect_Filter_Max_Range = 213.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 749.266152 meters looking forward 0.000000 meters along route # Maximum depth: 749.266152 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.843779; longitude = -118.707474; captureRadius = 10; duration = 53; initialDepth = 708.945850; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.877873 # Actual altitude: 50.877873 # Commanded vehicle depth:700 # Seafloor depth:-749.266152 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.51; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 748.945850 meters looking forward 0.000000 meters along route # Maximum depth: 748.945850 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.844230; longitude = -118.707544; captureRadius = 10; duration = 53; initialDepth = 709.536453; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.266152 # Actual altitude: 50 # Commanded vehicle depth:700 # Seafloor depth:-748.945850 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 749.536453 meters looking forward 0.000000 meters along route # Maximum depth: 749.536453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.844681; longitude = -118.707614; captureRadius = 10; duration = 53; initialDepth = 708.767929; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.5364530000001 # Actual altitude: 50 # Commanded vehicle depth:700 # Seafloor depth:-749.536453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 748.767929 meters looking forward 0.000000 meters along route # Maximum depth: 748.767929 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.845132; longitude = -118.707685; captureRadius = 10; duration = 53; initialDepth = 706.084977; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.5364530000001 # Actual altitude: 50 # Commanded vehicle depth:700 # Seafloor depth:-748.767929 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 746.084977 meters looking forward 0.000000 meters along route # Maximum depth: 746.084977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.845583; longitude = -118.707755; captureRadius = 10; duration = 53; initialDepth = 702.692262; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.767929 # Actual altitude: 50 # Commanded vehicle depth:700 # Seafloor depth:-746.084977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 742.692262 meters looking forward 0.000000 meters along route # Maximum depth: 742.692262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.846034; longitude = -118.707825; captureRadius = 10; duration = 53; initialDepth = 698.650953; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.084977 # Actual altitude: 50 # Commanded vehicle depth:700 # Seafloor depth:-742.692262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 738.650953 meters looking forward 0.000000 meters along route # Maximum depth: 738.650953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.650953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.846484; longitude = -118.707896; captureRadius = 10; duration = 53; initialDepth = 693.724116; finalDepth = 698.650953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.692262 # Actual altitude: 50 # Commanded vehicle depth:698.650953 # Seafloor depth:-738.650953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 733.724116 meters looking forward 0.000000 meters along route # Maximum depth: 733.724116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.724116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.846935; longitude = -118.707966; captureRadius = 10; duration = 53; initialDepth = 689.540840; finalDepth = 693.724116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:693.724116 # Seafloor depth:-733.724116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 729.540840 meters looking forward 0.000000 meters along route # Maximum depth: 729.540840 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.540840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847386; longitude = -118.708036; captureRadius = 10; duration = 53; initialDepth = 683.761724; finalDepth = 689.540840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:689.54084 # Seafloor depth:-729.540840 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 723.761724 meters looking forward 0.000000 meters along route # Maximum depth: 723.761724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.761724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847837; longitude = -118.708106; captureRadius = 10; duration = 53; initialDepth = 678.235476; finalDepth = 683.761724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:683.761724 # Seafloor depth:-723.761724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 718.235476 meters looking forward 0.000000 meters along route # Maximum depth: 718.235476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.235476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848288; longitude = -118.708177; captureRadius = 10; duration = 53; initialDepth = 674.545760; finalDepth = 678.235476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:678.235476 # Seafloor depth:-718.235476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 714.545760 meters looking forward 0.000000 meters along route # Maximum depth: 714.545760 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.545760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848739; longitude = -118.708247; captureRadius = 10; duration = 53; initialDepth = 670.254691; finalDepth = 674.545760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:674.54576 # Seafloor depth:-714.545760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 710.254691 meters looking forward 0.000000 meters along route # Maximum depth: 710.254691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 670.254691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849190; longitude = -118.708317; captureRadius = 10; duration = 53; initialDepth = 667.568604; finalDepth = 670.254691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:670.254691 # Seafloor depth:-710.254691 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 707.568604 meters looking forward 0.000000 meters along route # Maximum depth: 707.568604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 667.568604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849641; longitude = -118.708388; captureRadius = 10; duration = 53; initialDepth = 666.166795; finalDepth = 667.568604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:667.568604 # Seafloor depth:-707.568604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 706.166795 meters looking forward 0.000000 meters along route # Maximum depth: 706.166795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 666.166795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850092; longitude = -118.708458; captureRadius = 10; duration = 53; initialDepth = 665.437882; finalDepth = 666.166795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:666.166795 # Seafloor depth:-706.166795 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 705.437882 meters looking forward 0.000000 meters along route # Maximum depth: 705.437882 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.437882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850543; longitude = -118.708528; captureRadius = 10; duration = 53; initialDepth = 664.098085; finalDepth = 665.437882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:665.437882 # Seafloor depth:-705.437882 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 704.098085 meters looking forward 0.000000 meters along route # Maximum depth: 704.098085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 664.098085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850994; longitude = -118.708599; captureRadius = 10; duration = 53; initialDepth = 662.189599; finalDepth = 664.098085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:664.098085 # Seafloor depth:-704.098085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 702.189599 meters looking forward 0.000000 meters along route # Maximum depth: 702.189599 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 662.189599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851444; longitude = -118.708669; captureRadius = 10; duration = 53; initialDepth = 658.381493; finalDepth = 662.189599; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:662.189599 # Seafloor depth:-702.189599 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 698.381493 meters looking forward 0.000000 meters along route # Maximum depth: 698.381493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 658.381493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851895; longitude = -118.708739; captureRadius = 10; duration = 53; initialDepth = 652.722049; finalDepth = 658.381493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:658.381493 # Seafloor depth:-698.381493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 692.722049 meters looking forward 0.000000 meters along route # Maximum depth: 692.722049 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 652.722049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852346; longitude = -118.708809; captureRadius = 10; duration = 53; initialDepth = 647.186910; finalDepth = 652.722049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:652.722049 # Seafloor depth:-692.722049 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 687.186910 meters looking forward 0.000000 meters along route # Maximum depth: 687.186910 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.186910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852797; longitude = -118.708880; captureRadius = 10; duration = 53; initialDepth = 643.083791; finalDepth = 647.186910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:647.18691 # Seafloor depth:-687.186910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 683.083791 meters looking forward 0.000000 meters along route # Maximum depth: 683.083791 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 643.083791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853248; longitude = -118.708950; captureRadius = 10; duration = 53; initialDepth = 640.645271; finalDepth = 643.083791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:643.083791 # Seafloor depth:-683.083791 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 680.645271 meters looking forward 0.000000 meters along route # Maximum depth: 680.645271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 640.645271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853699; longitude = -118.709020; captureRadius = 10; duration = 53; initialDepth = 636.449111; finalDepth = 640.645271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:640.645271 # Seafloor depth:-680.645271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 676.449111 meters looking forward 0.000000 meters along route # Maximum depth: 676.449111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 636.449111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854150; longitude = -118.709091; captureRadius = 10; duration = 53; initialDepth = 633.517203; finalDepth = 636.449111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:636.449111 # Seafloor depth:-676.449111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 673.517203 meters looking forward 0.000000 meters along route # Maximum depth: 673.517203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 633.517203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854602; longitude = -118.709161; captureRadius = 10; duration = 53; initialDepth = 627.965952; finalDepth = 633.517203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:633.517203 # Seafloor depth:-673.517203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 667.965952 meters looking forward 0.000000 meters along route # Maximum depth: 667.965952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.965952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855052; longitude = -118.709231; captureRadius = 10; duration = 53; initialDepth = 621.863728; finalDepth = 627.965952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:627.965952 # Seafloor depth:-667.965952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 661.863728 meters looking forward 0.000000 meters along route # Maximum depth: 661.863728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.863728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855503; longitude = -118.709301; captureRadius = 10; duration = 53; initialDepth = 615.612495; finalDepth = 621.863728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:621.863728 # Seafloor depth:-661.863728 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 655.612495 meters looking forward 0.000000 meters along route # Maximum depth: 655.612495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 615.612495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855954; longitude = -118.709372; captureRadius = 10; duration = 53; initialDepth = 612.364655; finalDepth = 615.612495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:615.612495 # Seafloor depth:-655.612495 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 652.364655 meters looking forward 0.000000 meters along route # Maximum depth: 652.364655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.364655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856404; longitude = -118.709442; captureRadius = 10; duration = 53; initialDepth = 610.190369; finalDepth = 612.364655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:612.364655 # Seafloor depth:-652.364655 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 650.190369 meters looking forward 0.000000 meters along route # Maximum depth: 650.190369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.190369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856855; longitude = -118.709512; captureRadius = 10; duration = 53; initialDepth = 608.195156; finalDepth = 610.190369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:610.190369 # Seafloor depth:-650.190369 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 648.195156 meters looking forward 0.000000 meters along route # Maximum depth: 648.195156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.195156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857306; longitude = -118.709583; captureRadius = 10; duration = 53; initialDepth = 608.194721; finalDepth = 608.195156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.195156 # Seafloor depth:-648.195156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 648.194721 meters looking forward 0.000000 meters along route # Maximum depth: 648.194721 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.194721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857757; longitude = -118.709653; captureRadius = 10; duration = 53; initialDepth = 607.814429; finalDepth = 608.194721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.194721 # Seafloor depth:-648.194721 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 647.814429 meters looking forward 0.000000 meters along route # Maximum depth: 647.814429 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.814429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858208; longitude = -118.709723; captureRadius = 10; duration = 53; initialDepth = 607.627697; finalDepth = 607.814429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:607.814429 # Seafloor depth:-647.814429 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 647.627697 meters looking forward 0.000000 meters along route # Maximum depth: 647.627697 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.627697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858659; longitude = -118.709793; captureRadius = 10; duration = 53; initialDepth = 605.706330; finalDepth = 607.627697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:607.627697 # Seafloor depth:-647.627697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 645.706330 meters looking forward 0.000000 meters along route # Maximum depth: 645.706330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.706330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859110; longitude = -118.709864; captureRadius = 10; duration = 53; initialDepth = 602.397003; finalDepth = 605.706330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.70633 # Seafloor depth:-645.706330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 642.397003 meters looking forward 0.000000 meters along route # Maximum depth: 642.397003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 602.397003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859561; longitude = -118.709934; captureRadius = 10; duration = 53; initialDepth = 599.241272; finalDepth = 602.397003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:602.397003 # Seafloor depth:-642.397003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 639.241272 meters looking forward 0.000000 meters along route # Maximum depth: 639.241272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.241272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860012; longitude = -118.710004; captureRadius = 10; duration = 53; initialDepth = 592.512908; finalDepth = 599.241272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:599.241272 # Seafloor depth:-639.241272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 632.512908 meters looking forward 0.000000 meters along route # Maximum depth: 632.512908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 592.512908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860463; longitude = -118.710075; captureRadius = 10; duration = 53; initialDepth = 587.745625; finalDepth = 592.512908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:592.512908 # Seafloor depth:-632.512908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 627.745625 meters looking forward 0.000000 meters along route # Maximum depth: 627.745625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.745625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860913; longitude = -118.710145; captureRadius = 10; duration = 53; initialDepth = 584.251026; finalDepth = 587.745625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.745625 # Seafloor depth:-627.745625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 624.251026 meters looking forward 0.000000 meters along route # Maximum depth: 624.251026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.251026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861364; longitude = -118.710215; captureRadius = 10; duration = 53; initialDepth = 579.667912; finalDepth = 584.251026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.251026 # Seafloor depth:-624.251026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 619.667912 meters looking forward 0.000000 meters along route # Maximum depth: 619.667912 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.667912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861815; longitude = -118.710286; captureRadius = 10; duration = 53; initialDepth = 575.381855; finalDepth = 579.667912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.667912 # Seafloor depth:-619.667912 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 615.381855 meters looking forward 0.000000 meters along route # Maximum depth: 615.381855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.381855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862266; longitude = -118.710356; captureRadius = 10; duration = 53; initialDepth = 573.104708; finalDepth = 575.381855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.381855 # Seafloor depth:-615.381855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 613.104708 meters looking forward 0.000000 meters along route # Maximum depth: 613.104708 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.104708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862717; longitude = -118.710426; captureRadius = 10; duration = 53; initialDepth = 572.394277; finalDepth = 573.104708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.104708 # Seafloor depth:-613.104708 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 612.394277 meters looking forward 0.000000 meters along route # Maximum depth: 612.394277 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.394277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863168; longitude = -118.710496; captureRadius = 10; duration = 53; initialDepth = 572.490898; finalDepth = 572.394277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:572.394277 # Seafloor depth:-612.394277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 612.490898 meters looking forward 0.000000 meters along route # Maximum depth: 612.490898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.490898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863619; longitude = -118.710567; captureRadius = 10; duration = 53; initialDepth = 572.939408; finalDepth = 572.490898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:572.490898 # Seafloor depth:-612.490898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 612.939408 meters looking forward 0.000000 meters along route # Maximum depth: 612.939408 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.939408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864070; longitude = -118.710637; captureRadius = 10; duration = 53; initialDepth = 573.648614; finalDepth = 572.939408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:572.939408 # Seafloor depth:-612.939408 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 613.648614 meters looking forward 0.000000 meters along route # Maximum depth: 613.648614 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.648614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864521; longitude = -118.710707; captureRadius = 10; duration = 53; initialDepth = 574.640669; finalDepth = 573.648614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.648614 # Seafloor depth:-613.648614 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 614.640669 meters looking forward 0.000000 meters along route # Maximum depth: 614.640669 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.640669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864972; longitude = -118.710778; captureRadius = 10; duration = 53; initialDepth = 577.050574; finalDepth = 574.640669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.640669 # Seafloor depth:-614.640669 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 617.050574 meters looking forward 0.000000 meters along route # Maximum depth: 617.050574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.050574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865423; longitude = -118.710848; captureRadius = 10; duration = 53; initialDepth = 581.028122; finalDepth = 577.050574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.050574 # Seafloor depth:-617.050574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 621.028122 meters looking forward 0.000000 meters along route # Maximum depth: 621.028122 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.028122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865873; longitude = -118.710918; captureRadius = 10; duration = 53; initialDepth = 586.430673; finalDepth = 581.028122; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.028122 # Seafloor depth:-621.028122 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 626.430673 meters looking forward 0.000000 meters along route # Maximum depth: 626.430673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.430673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866324; longitude = -118.710988; captureRadius = 10; duration = 53; initialDepth = 591.342046; finalDepth = 586.430673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.430673 # Seafloor depth:-626.430673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 631.342046 meters looking forward 0.000000 meters along route # Maximum depth: 631.342046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.342046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866775; longitude = -118.711059; captureRadius = 10; duration = 53; initialDepth = 596.076111; finalDepth = 591.342046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.342046 # Seafloor depth:-631.342046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 636.076111 meters looking forward 0.000000 meters along route # Maximum depth: 636.076111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.076111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867226; longitude = -118.711129; captureRadius = 10; duration = 53; initialDepth = 597.615108; finalDepth = 596.076111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.076111 # Seafloor depth:-636.076111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 637.615108 meters looking forward 0.000000 meters along route # Maximum depth: 637.615108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 597.615108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867677; longitude = -118.711199; captureRadius = 10; duration = 53; initialDepth = 591.301130; finalDepth = 597.615108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:597.615108 # Seafloor depth:-637.615108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 631.301130 meters looking forward 0.000000 meters along route # Maximum depth: 631.301130 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.301130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868128; longitude = -118.711270; captureRadius = 10; duration = 53; initialDepth = 580.104616; finalDepth = 591.301130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.30113 # Seafloor depth:-631.301130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 620.104616 meters looking forward 0.000000 meters along route # Maximum depth: 620.104616 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.104616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868579; longitude = -118.711340; captureRadius = 10; duration = 53; initialDepth = 570.089678; finalDepth = 580.104616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.104616 # Seafloor depth:-620.104616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 610.089678 meters looking forward 0.000000 meters along route # Maximum depth: 610.089678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.089678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869030; longitude = -118.711410; captureRadius = 10; duration = 53; initialDepth = 561.707447; finalDepth = 570.089678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:570.089678 # Seafloor depth:-610.089678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 601.707447 meters looking forward 0.000000 meters along route # Maximum depth: 601.707447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.707447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869481; longitude = -118.711480; captureRadius = 10; duration = 53; initialDepth = 558.639427; finalDepth = 561.707447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.707447 # Seafloor depth:-601.707447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 598.639427 meters looking forward 0.000000 meters along route # Maximum depth: 598.639427 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.639427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869932; longitude = -118.711551; captureRadius = 10; duration = 53; initialDepth = 557.341720; finalDepth = 558.639427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.639427 # Seafloor depth:-598.639427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 597.341720 meters looking forward 0.000000 meters along route # Maximum depth: 597.341720 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.341720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870382; longitude = -118.711621; captureRadius = 10; duration = 53; initialDepth = 557.835242; finalDepth = 557.341720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.34172 # Seafloor depth:-597.341720 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 597.835242 meters looking forward 0.000000 meters along route # Maximum depth: 597.835242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.835242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870833; longitude = -118.711691; captureRadius = 10; duration = 53; initialDepth = 560.381281; finalDepth = 557.835242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:557.835242 # Seafloor depth:-597.835242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 600.381281 meters looking forward 0.000000 meters along route # Maximum depth: 600.381281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.381281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871284; longitude = -118.711762; captureRadius = 10; duration = 53; initialDepth = 562.339292; finalDepth = 560.381281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.381281 # Seafloor depth:-600.381281 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 602.339292 meters looking forward 0.000000 meters along route # Maximum depth: 602.339292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.339292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871735; longitude = -118.711832; captureRadius = 10; duration = 53; initialDepth = 565.487636; finalDepth = 562.339292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:562.339292 # Seafloor depth:-602.339292 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 605.487636 meters looking forward 0.000000 meters along route # Maximum depth: 605.487636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.487636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872186; longitude = -118.711902; captureRadius = 10; duration = 53; initialDepth = 568.157696; finalDepth = 565.487636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.487636 # Seafloor depth:-605.487636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 608.157696 meters looking forward 0.000000 meters along route # Maximum depth: 608.157696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.157696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872637; longitude = -118.711973; captureRadius = 10; duration = 53; initialDepth = 569.800016; finalDepth = 568.157696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:568.157696 # Seafloor depth:-608.157696 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 609.800016 meters looking forward 0.000000 meters along route # Maximum depth: 609.800016 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.800016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873088; longitude = -118.712043; captureRadius = 10; duration = 53; initialDepth = 570.858611; finalDepth = 569.800016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.800016 # Seafloor depth:-609.800016 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 610.858611 meters looking forward 0.000000 meters along route # Maximum depth: 610.858611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.858611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873539; longitude = -118.712113; captureRadius = 10; duration = 53; initialDepth = 571.928847; finalDepth = 570.858611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:570.858611 # Seafloor depth:-610.858611 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 611.928847 meters looking forward 0.000000 meters along route # Maximum depth: 611.928847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.928847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873990; longitude = -118.712183; captureRadius = 10; duration = 53; initialDepth = 570.749338; finalDepth = 571.928847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.928847 # Seafloor depth:-611.928847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 610.749338 meters looking forward 0.000000 meters along route # Maximum depth: 610.749338 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.749338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874441; longitude = -118.712254; captureRadius = 10; duration = 53; initialDepth = 566.162340; finalDepth = 570.749338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:570.749338 # Seafloor depth:-610.749338 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 606.162340 meters looking forward 0.000000 meters along route # Maximum depth: 606.162340 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.162340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874892; longitude = -118.712324; captureRadius = 10; duration = 53; initialDepth = 560.376912; finalDepth = 566.162340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:566.16234 # Seafloor depth:-606.162340 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 600.376912 meters looking forward 0.000000 meters along route # Maximum depth: 600.376912 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.376912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875342; longitude = -118.712394; captureRadius = 10; duration = 53; initialDepth = 553.372119; finalDepth = 560.376912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.376912 # Seafloor depth:-600.376912 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 593.372119 meters looking forward 0.000000 meters along route # Maximum depth: 593.372119 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.372119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875793; longitude = -118.712465; captureRadius = 10; duration = 53; initialDepth = 547.742037; finalDepth = 553.372119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.372119 # Seafloor depth:-593.372119 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 587.742037 meters looking forward 0.000000 meters along route # Maximum depth: 587.742037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.742037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876244; longitude = -118.712535; captureRadius = 10; duration = 53; initialDepth = 543.475595; finalDepth = 547.742037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.742037 # Seafloor depth:-587.742037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 583.475595 meters looking forward 0.000000 meters along route # Maximum depth: 583.475595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.475595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876695; longitude = -118.712605; captureRadius = 10; duration = 53; initialDepth = 541.424112; finalDepth = 543.475595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.475595 # Seafloor depth:-583.475595 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 581.424112 meters looking forward 0.000000 meters along route # Maximum depth: 581.424112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.424112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877146; longitude = -118.712675; captureRadius = 10; duration = 53; initialDepth = 541.865322; finalDepth = 541.424112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.424112 # Seafloor depth:-581.424112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 581.865322 meters looking forward 0.000000 meters along route # Maximum depth: 581.865322 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.865322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877597; longitude = -118.712746; captureRadius = 10; duration = 53; initialDepth = 544.076918; finalDepth = 541.865322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.865322 # Seafloor depth:-581.865322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 584.076918 meters looking forward 0.000000 meters along route # Maximum depth: 584.076918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.076918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878048; longitude = -118.712816; captureRadius = 10; duration = 53; initialDepth = 543.880867; finalDepth = 544.076918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:544.076918 # Seafloor depth:-584.076918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 583.880867 meters looking forward 0.000000 meters along route # Maximum depth: 583.880867 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.880867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878499; longitude = -118.712886; captureRadius = 10; duration = 53; initialDepth = 537.637530; finalDepth = 543.880867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.880867 # Seafloor depth:-583.880867 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 577.637530 meters looking forward 0.000000 meters along route # Maximum depth: 577.637530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.637530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878950; longitude = -118.712957; captureRadius = 10; duration = 53; initialDepth = 530.239663; finalDepth = 537.637530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.63753 # Seafloor depth:-577.637530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 570.239663 meters looking forward 0.000000 meters along route # Maximum depth: 570.239663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.239663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879401; longitude = -118.713027; captureRadius = 10; duration = 53; initialDepth = 522.171390; finalDepth = 530.239663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.239663 # Seafloor depth:-570.239663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 562.171390 meters looking forward 0.000000 meters along route # Maximum depth: 562.171390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.171390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879851; longitude = -118.713097; captureRadius = 10; duration = 53; initialDepth = 517.274688; finalDepth = 522.171390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.17139 # Seafloor depth:-562.171390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 557.274688 meters looking forward 0.000000 meters along route # Maximum depth: 557.274688 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.274688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880302; longitude = -118.713167; captureRadius = 10; duration = 53; initialDepth = 514.084814; finalDepth = 517.274688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:517.274688 # Seafloor depth:-557.274688 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 554.084814 meters looking forward 0.000000 meters along route # Maximum depth: 554.084814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.084814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880753; longitude = -118.713238; captureRadius = 10; duration = 53; initialDepth = 511.876621; finalDepth = 514.084814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:514.084814 # Seafloor depth:-554.084814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 551.876621 meters looking forward 0.000000 meters along route # Maximum depth: 551.876621 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.876621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881204; longitude = -118.713308; captureRadius = 10; duration = 53; initialDepth = 511.008394; finalDepth = 511.876621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:511.876621 # Seafloor depth:-551.876621 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 551.008394 meters looking forward 0.000000 meters along route # Maximum depth: 551.008394 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.008394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881655; longitude = -118.713378; captureRadius = 10; duration = 53; initialDepth = 510.243607; finalDepth = 511.008394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:511.008394 # Seafloor depth:-551.008394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 550.243607 meters looking forward 0.000000 meters along route # Maximum depth: 550.243607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.243607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882106; longitude = -118.713449; captureRadius = 10; duration = 53; initialDepth = 508.997415; finalDepth = 510.243607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:510.243607 # Seafloor depth:-550.243607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 548.997415 meters looking forward 0.000000 meters along route # Maximum depth: 548.997415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.997415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882557; longitude = -118.713519; captureRadius = 10; duration = 53; initialDepth = 508.092337; finalDepth = 508.997415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:508.997415 # Seafloor depth:-548.997415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 548.092337 meters looking forward 0.000000 meters along route # Maximum depth: 548.092337 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.092337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883008; longitude = -118.713589; captureRadius = 10; duration = 53; initialDepth = 507.921008; finalDepth = 508.092337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:508.092337 # Seafloor depth:-548.092337 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 547.921008 meters looking forward 0.000000 meters along route # Maximum depth: 547.921008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.921008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883459; longitude = -118.713660; captureRadius = 10; duration = 53; initialDepth = 507.275326; finalDepth = 507.921008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:507.921008 # Seafloor depth:-547.921008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 547.275326 meters looking forward 0.000000 meters along route # Maximum depth: 547.275326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.275326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883910; longitude = -118.713730; captureRadius = 10; duration = 53; initialDepth = 505.958895; finalDepth = 507.275326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:507.275326 # Seafloor depth:-547.275326 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 545.958895 meters looking forward 0.000000 meters along route # Maximum depth: 545.958895 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.958895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884361; longitude = -118.713800; captureRadius = 10; duration = 53; initialDepth = 505.392199; finalDepth = 505.958895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.958895 # Seafloor depth:-545.958895 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 53.687574 meters # Minimum depth: 545.392199 meters looking forward 0.000000 meters along route # Maximum depth: 545.392199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.392199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884811; longitude = -118.713870; captureRadius = 10; duration = 53; initialDepth = 504.389420; finalDepth = 505.392199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.392199 # Seafloor depth:-545.392199 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 68 # Segment length 53.687574 meters # Minimum depth: 544.389420 meters looking forward 0.000000 meters along route # Maximum depth: 544.389420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.389420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885322; longitude = -118.713950; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 503.631865; finalDepth = 504.389420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.38942 # Seafloor depth:-544.389420 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 53.687574 meters # Minimum depth: 543.631865 meters looking forward 0.000000 meters along route # Maximum depth: 543.631865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.631865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885334; longitude = -118.713698; captureRadius = 10; duration = 53; initialDepth = 502.132834; finalDepth = 503.631865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.631865 # Seafloor depth:-543.631865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 53.687574 meters # Minimum depth: 542.132834 meters looking forward 0.000000 meters along route # Maximum depth: 542.132834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.132834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885359; longitude = -118.713158; captureRadius = 10; duration = 53; initialDepth = 500.653896; finalDepth = 502.132834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:502.132834 # Seafloor depth:-542.132834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 53.687574 meters # Minimum depth: 540.653896 meters looking forward 0.000000 meters along route # Maximum depth: 540.653896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.653896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885384; longitude = -118.712618; captureRadius = 10; duration = 53; initialDepth = 499.030701; finalDepth = 500.653896; 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:500.653896 # Seafloor depth:-540.653896 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 67 # Segment length 53.687574 meters # Minimum depth: 539.030701 meters looking forward 0.000000 meters along route # Maximum depth: 539.030701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.030701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885413; longitude = -118.712006; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 500.183206; finalDepth = 499.030701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.030701 # Seafloor depth:-539.030701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 540.183206 meters looking forward 0.000000 meters along route # Maximum depth: 540.183206 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.183206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885082; longitude = -118.711955; captureRadius = 10; duration = 53; initialDepth = 500.837164; finalDepth = 500.183206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.183206 # Seafloor depth:-540.183206 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 540.837164 meters looking forward 0.000000 meters along route # Maximum depth: 540.837164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.837164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884631; longitude = -118.711885; captureRadius = 10; duration = 53; initialDepth = 501.995454; finalDepth = 500.837164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.837164 # Seafloor depth:-540.837164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 541.995454 meters looking forward 0.000000 meters along route # Maximum depth: 541.995454 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.995454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884180; longitude = -118.711815; captureRadius = 10; duration = 53; initialDepth = 502.791598; finalDepth = 501.995454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:501.995454 # Seafloor depth:-541.995454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 542.791598 meters looking forward 0.000000 meters along route # Maximum depth: 542.791598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.791598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883729; longitude = -118.711745; captureRadius = 10; duration = 53; initialDepth = 503.409039; finalDepth = 502.791598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:502.791598 # Seafloor depth:-542.791598 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 543.409039 meters looking forward 0.000000 meters along route # Maximum depth: 543.409039 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.409039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883278; longitude = -118.711675; captureRadius = 10; duration = 53; initialDepth = 504.757914; finalDepth = 503.409039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.409039 # Seafloor depth:-543.409039 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 544.757914 meters looking forward 0.000000 meters along route # Maximum depth: 544.757914 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.757914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882827; longitude = -118.711606; captureRadius = 10; duration = 53; initialDepth = 504.643503; finalDepth = 504.757914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.757914 # Seafloor depth:-544.757914 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 544.643503 meters looking forward 0.000000 meters along route # Maximum depth: 544.643503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.643503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882377; longitude = -118.711536; captureRadius = 10; duration = 53; initialDepth = 506.628749; finalDepth = 504.643503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.643503 # Seafloor depth:-544.643503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 546.628749 meters looking forward 0.000000 meters along route # Maximum depth: 546.628749 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.628749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881926; longitude = -118.711466; captureRadius = 10; duration = 53; initialDepth = 508.605314; finalDepth = 506.628749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.628749 # Seafloor depth:-546.628749 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 548.605314 meters looking forward 0.000000 meters along route # Maximum depth: 548.605314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.605314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881475; longitude = -118.711396; captureRadius = 10; duration = 53; initialDepth = 510.839138; finalDepth = 508.605314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:508.605314 # Seafloor depth:-548.605314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 550.839138 meters looking forward 0.000000 meters along route # Maximum depth: 550.839138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.839138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881024; longitude = -118.711326; captureRadius = 10; duration = 53; initialDepth = 516.432134; finalDepth = 510.839138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:510.839138 # Seafloor depth:-550.839138 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 556.432134 meters looking forward 0.000000 meters along route # Maximum depth: 556.432134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.432134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880573; longitude = -118.711257; captureRadius = 10; duration = 53; initialDepth = 528.803635; finalDepth = 516.432134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:516.432134 # Seafloor depth:-556.432134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 568.803635 meters looking forward 0.000000 meters along route # Maximum depth: 568.803635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.803635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880122; longitude = -118.711187; captureRadius = 10; duration = 53; initialDepth = 546.605537; finalDepth = 528.803635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:528.803635 # Seafloor depth:-568.803635 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 586.605537 meters looking forward 0.000000 meters along route # Maximum depth: 586.605537 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.605537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879671; longitude = -118.711117; captureRadius = 10; duration = 53; initialDepth = 556.027998; finalDepth = 546.605537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:546.605537 # Seafloor depth:-586.605537 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 596.027998 meters looking forward 0.000000 meters along route # Maximum depth: 596.027998 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.027998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879220; longitude = -118.711047; captureRadius = 10; duration = 53; initialDepth = 553.973191; finalDepth = 556.027998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:556.027998 # Seafloor depth:-596.027998 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 593.973191 meters looking forward 0.000000 meters along route # Maximum depth: 593.973191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.973191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878769; longitude = -118.710977; captureRadius = 10; duration = 53; initialDepth = 549.849101; finalDepth = 553.973191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.973191 # Seafloor depth:-593.973191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 589.849101 meters looking forward 0.000000 meters along route # Maximum depth: 589.849101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.849101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878318; longitude = -118.710907; captureRadius = 10; duration = 53; initialDepth = 545.098832; finalDepth = 549.849101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:549.849101 # Seafloor depth:-589.849101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 585.098832 meters looking forward 0.000000 meters along route # Maximum depth: 585.098832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.098832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877868; longitude = -118.710838; captureRadius = 10; duration = 53; initialDepth = 540.568085; finalDepth = 545.098832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.098832 # Seafloor depth:-585.098832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 580.568085 meters looking forward 0.000000 meters along route # Maximum depth: 580.568085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.568085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877417; longitude = -118.710768; captureRadius = 10; duration = 53; initialDepth = 540.280157; finalDepth = 540.568085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.568085 # Seafloor depth:-580.568085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 580.280157 meters looking forward 0.000000 meters along route # Maximum depth: 580.280157 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.280157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876966; longitude = -118.710698; captureRadius = 10; duration = 53; initialDepth = 544.294360; finalDepth = 540.280157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.280157 # Seafloor depth:-580.280157 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 584.294360 meters looking forward 0.000000 meters along route # Maximum depth: 584.294360 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.294360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876515; longitude = -118.710628; captureRadius = 10; duration = 53; initialDepth = 549.451525; finalDepth = 544.294360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:544.29436 # Seafloor depth:-584.294360 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 589.451525 meters looking forward 0.000000 meters along route # Maximum depth: 589.451525 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.451525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876064; longitude = -118.710558; captureRadius = 10; duration = 53; initialDepth = 554.261117; finalDepth = 549.451525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:549.451525 # Seafloor depth:-589.451525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 594.261117 meters looking forward 0.000000 meters along route # Maximum depth: 594.261117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.261117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875613; longitude = -118.710488; captureRadius = 10; duration = 53; initialDepth = 561.702650; finalDepth = 554.261117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.261117 # Seafloor depth:-594.261117 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 601.702650 meters looking forward 0.000000 meters along route # Maximum depth: 601.702650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.702650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875162; longitude = -118.710419; captureRadius = 10; duration = 53; initialDepth = 571.950634; finalDepth = 561.702650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.70265 # Seafloor depth:-601.702650 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 611.950634 meters looking forward 0.000000 meters along route # Maximum depth: 611.950634 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.950634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874711; longitude = -118.710349; captureRadius = 10; duration = 53; initialDepth = 574.676159; finalDepth = 571.950634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.950634 # Seafloor depth:-611.950634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 614.676159 meters looking forward 0.000000 meters along route # Maximum depth: 614.676159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.676159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874260; longitude = -118.710279; captureRadius = 10; duration = 53; initialDepth = 570.132964; finalDepth = 574.676159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.676159 # Seafloor depth:-614.676159 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 610.132964 meters looking forward 0.000000 meters along route # Maximum depth: 610.132964 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.132964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873809; longitude = -118.710209; captureRadius = 10; duration = 53; initialDepth = 566.695436; finalDepth = 570.132964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:570.132964 # Seafloor depth:-610.132964 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 606.695436 meters looking forward 0.000000 meters along route # Maximum depth: 606.695436 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.695436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873358; longitude = -118.710139; captureRadius = 10; duration = 53; initialDepth = 564.274363; finalDepth = 566.695436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:566.695436 # Seafloor depth:-606.695436 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 604.274363 meters looking forward 0.000000 meters along route # Maximum depth: 604.274363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.274363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872908; longitude = -118.710070; captureRadius = 10; duration = 53; initialDepth = 562.334951; finalDepth = 564.274363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:564.274363 # Seafloor depth:-604.274363 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 602.334951 meters looking forward 0.000000 meters along route # Maximum depth: 602.334951 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.334951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872457; longitude = -118.710000; captureRadius = 10; duration = 53; initialDepth = 561.062674; finalDepth = 562.334951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:562.334951 # Seafloor depth:-602.334951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 601.062674 meters looking forward 0.000000 meters along route # Maximum depth: 601.062674 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.062674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872006; longitude = -118.709930; captureRadius = 10; duration = 53; initialDepth = 560.506760; finalDepth = 561.062674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.062674 # Seafloor depth:-601.062674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 600.506760 meters looking forward 0.000000 meters along route # Maximum depth: 600.506760 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.506760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871555; longitude = -118.709860; captureRadius = 10; duration = 53; initialDepth = 560.354468; finalDepth = 560.506760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.50676 # Seafloor depth:-600.506760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 600.354468 meters looking forward 0.000000 meters along route # Maximum depth: 600.354468 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.354468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871104; longitude = -118.709790; captureRadius = 10; duration = 53; initialDepth = 560.041385; finalDepth = 560.354468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.354468 # Seafloor depth:-600.354468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 600.041385 meters looking forward 0.000000 meters along route # Maximum depth: 600.041385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.041385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870653; longitude = -118.709720; captureRadius = 10; duration = 53; initialDepth = 561.806156; finalDepth = 560.041385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.041385 # Seafloor depth:-600.041385 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 601.806156 meters looking forward 0.000000 meters along route # Maximum depth: 601.806156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.806156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870202; longitude = -118.709651; captureRadius = 10; duration = 53; initialDepth = 565.989500; finalDepth = 561.806156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.806156 # Seafloor depth:-601.806156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 605.989500 meters looking forward 0.000000 meters along route # Maximum depth: 605.989500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.989500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869751; longitude = -118.709581; captureRadius = 10; duration = 53; initialDepth = 578.321763; finalDepth = 565.989500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.9895 # Seafloor depth:-605.989500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 618.321763 meters looking forward 0.000000 meters along route # Maximum depth: 618.321763 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.321763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869300; longitude = -118.709511; captureRadius = 10; duration = 53; initialDepth = 592.393885; finalDepth = 578.321763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.321763 # Seafloor depth:-618.321763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 632.393885 meters looking forward 0.000000 meters along route # Maximum depth: 632.393885 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 592.393885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868849; longitude = -118.709441; captureRadius = 10; duration = 53; initialDepth = 596.945945; finalDepth = 592.393885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:592.393885 # Seafloor depth:-632.393885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 636.945945 meters looking forward 0.000000 meters along route # Maximum depth: 636.945945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.945945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868398; longitude = -118.709371; captureRadius = 10; duration = 53; initialDepth = 594.008418; finalDepth = 596.945945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.945945 # Seafloor depth:-636.945945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 634.008418 meters looking forward 0.000000 meters along route # Maximum depth: 634.008418 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.008418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867948; longitude = -118.709301; captureRadius = 10; duration = 53; initialDepth = 590.952237; finalDepth = 594.008418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.008418 # Seafloor depth:-634.008418 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 630.952237 meters looking forward 0.000000 meters along route # Maximum depth: 630.952237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.952237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867497; longitude = -118.709232; captureRadius = 10; duration = 53; initialDepth = 591.725591; finalDepth = 590.952237; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.952237 # Seafloor depth:-630.952237 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 631.725591 meters looking forward 0.000000 meters along route # Maximum depth: 631.725591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.725591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867046; longitude = -118.709162; captureRadius = 10; duration = 53; initialDepth = 591.198862; finalDepth = 591.725591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.725591 # Seafloor depth:-631.725591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 631.198862 meters looking forward 0.000000 meters along route # Maximum depth: 631.198862 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.198862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866595; longitude = -118.709092; captureRadius = 10; duration = 53; initialDepth = 589.741806; finalDepth = 591.198862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.198862 # Seafloor depth:-631.198862 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 629.741806 meters looking forward 0.000000 meters along route # Maximum depth: 629.741806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.741806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866144; longitude = -118.709022; captureRadius = 10; duration = 53; initialDepth = 589.063115; finalDepth = 589.741806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.741806 # Seafloor depth:-629.741806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 629.063115 meters looking forward 0.000000 meters along route # Maximum depth: 629.063115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.063115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865693; longitude = -118.708952; captureRadius = 10; duration = 53; initialDepth = 587.713604; finalDepth = 589.063115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.063115 # Seafloor depth:-629.063115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 627.713604 meters looking forward 0.000000 meters along route # Maximum depth: 627.713604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.713604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865242; longitude = -118.708883; captureRadius = 10; duration = 53; initialDepth = 587.095464; finalDepth = 587.713604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.713604 # Seafloor depth:-627.713604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 627.095464 meters looking forward 0.000000 meters along route # Maximum depth: 627.095464 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.095464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864791; longitude = -118.708813; captureRadius = 10; duration = 53; initialDepth = 586.982808; finalDepth = 587.095464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.095464 # Seafloor depth:-627.095464 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 626.982808 meters looking forward 0.000000 meters along route # Maximum depth: 626.982808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.982808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864340; longitude = -118.708743; captureRadius = 10; duration = 53; initialDepth = 587.154415; finalDepth = 586.982808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.982808 # Seafloor depth:-626.982808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 627.154415 meters looking forward 0.000000 meters along route # Maximum depth: 627.154415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.154415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863889; longitude = -118.708673; captureRadius = 10; duration = 53; initialDepth = 587.819221; finalDepth = 587.154415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.154415 # Seafloor depth:-627.154415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 627.819221 meters looking forward 0.000000 meters along route # Maximum depth: 627.819221 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.819221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863439; longitude = -118.708603; captureRadius = 10; duration = 53; initialDepth = 590.225769; finalDepth = 587.819221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.819221 # Seafloor depth:-627.819221 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 630.225769 meters looking forward 0.000000 meters along route # Maximum depth: 630.225769 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.225769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862988; longitude = -118.708533; captureRadius = 10; duration = 53; initialDepth = 595.813440; finalDepth = 590.225769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.225769 # Seafloor depth:-630.225769 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 635.813440 meters looking forward 0.000000 meters along route # Maximum depth: 635.813440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.813440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862537; longitude = -118.708464; captureRadius = 10; duration = 53; initialDepth = 596.860519; finalDepth = 595.813440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:595.81344 # Seafloor depth:-635.813440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 636.860519 meters looking forward 0.000000 meters along route # Maximum depth: 636.860519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.860519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862086; longitude = -118.708394; captureRadius = 10; duration = 53; initialDepth = 595.374509; finalDepth = 596.860519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.860519 # Seafloor depth:-636.860519 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 635.374509 meters looking forward 0.000000 meters along route # Maximum depth: 635.374509 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.374509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861635; longitude = -118.708324; captureRadius = 10; duration = 53; initialDepth = 594.848618; finalDepth = 595.374509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:595.374509 # Seafloor depth:-635.374509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 634.848618 meters looking forward 0.000000 meters along route # Maximum depth: 634.848618 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.848618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861184; longitude = -118.708254; captureRadius = 10; duration = 53; initialDepth = 595.075254; finalDepth = 594.848618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.848618 # Seafloor depth:-634.848618 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 635.075254 meters looking forward 0.000000 meters along route # Maximum depth: 635.075254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.075254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860733; longitude = -118.708184; captureRadius = 10; duration = 53; initialDepth = 595.187461; finalDepth = 595.075254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:595.075254 # Seafloor depth:-635.075254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 635.187461 meters looking forward 0.000000 meters along route # Maximum depth: 635.187461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.187461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860282; longitude = -118.708115; captureRadius = 10; duration = 53; initialDepth = 597.286768; finalDepth = 595.187461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:595.187461 # Seafloor depth:-635.187461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 637.286768 meters looking forward 0.000000 meters along route # Maximum depth: 637.286768 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 597.286768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859831; longitude = -118.708045; captureRadius = 10; duration = 53; initialDepth = 598.060189; finalDepth = 597.286768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:597.286768 # Seafloor depth:-637.286768 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 638.060189 meters looking forward 0.000000 meters along route # Maximum depth: 638.060189 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 598.060189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859380; longitude = -118.707975; captureRadius = 10; duration = 53; initialDepth = 596.543979; finalDepth = 598.060189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:598.060189 # Seafloor depth:-638.060189 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 636.543979 meters looking forward 0.000000 meters along route # Maximum depth: 636.543979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.543979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858929; longitude = -118.707905; captureRadius = 10; duration = 53; initialDepth = 595.144837; finalDepth = 596.543979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.543979 # Seafloor depth:-636.543979 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 635.144837 meters looking forward 0.000000 meters along route # Maximum depth: 635.144837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.144837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858479; longitude = -118.707835; captureRadius = 10; duration = 53; initialDepth = 593.799182; finalDepth = 595.144837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:595.144837 # Seafloor depth:-635.144837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 633.799182 meters looking forward 0.000000 meters along route # Maximum depth: 633.799182 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.799182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858028; longitude = -118.707765; captureRadius = 10; duration = 53; initialDepth = 594.059773; finalDepth = 593.799182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.799182 # Seafloor depth:-633.799182 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 634.059773 meters looking forward 0.000000 meters along route # Maximum depth: 634.059773 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.059773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857577; longitude = -118.707696; captureRadius = 10; duration = 53; initialDepth = 594.048142; finalDepth = 594.059773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.059773 # Seafloor depth:-634.059773 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 634.048142 meters looking forward 0.000000 meters along route # Maximum depth: 634.048142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.048142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857126; longitude = -118.707626; captureRadius = 10; duration = 53; initialDepth = 593.997499; finalDepth = 594.048142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.048142 # Seafloor depth:-634.048142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 633.997499 meters looking forward 0.000000 meters along route # Maximum depth: 633.997499 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.997499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856675; longitude = -118.707556; captureRadius = 10; duration = 53; initialDepth = 594.824878; finalDepth = 593.997499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:593.997499 # Seafloor depth:-633.997499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 634.824878 meters looking forward 0.000000 meters along route # Maximum depth: 634.824878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.824878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856224; longitude = -118.707486; captureRadius = 10; duration = 53; initialDepth = 596.726060; finalDepth = 594.824878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.824878 # Seafloor depth:-634.824878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 636.726060 meters looking forward 0.000000 meters along route # Maximum depth: 636.726060 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.726060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855773; longitude = -118.707416; captureRadius = 10; duration = 53; initialDepth = 599.307118; finalDepth = 596.726060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.72606 # Seafloor depth:-636.726060 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 639.307118 meters looking forward 0.000000 meters along route # Maximum depth: 639.307118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.307118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855322; longitude = -118.707346; captureRadius = 10; duration = 53; initialDepth = 602.484382; finalDepth = 599.307118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:599.307118 # Seafloor depth:-639.307118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 642.484382 meters looking forward 0.000000 meters along route # Maximum depth: 642.484382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 602.484382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854871; longitude = -118.707277; captureRadius = 10; duration = 53; initialDepth = 606.674795; finalDepth = 602.484382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:602.484382 # Seafloor depth:-642.484382 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 646.674795 meters looking forward 0.000000 meters along route # Maximum depth: 646.674795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 606.674795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854420; longitude = -118.707207; captureRadius = 10; duration = 53; initialDepth = 611.683526; finalDepth = 606.674795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:606.674795 # Seafloor depth:-646.674795 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 651.683526 meters looking forward 0.000000 meters along route # Maximum depth: 651.683526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.683526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853970; longitude = -118.707137; captureRadius = 10; duration = 53; initialDepth = 617.308620; finalDepth = 611.683526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:611.683526 # Seafloor depth:-651.683526 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 657.308620 meters looking forward 0.000000 meters along route # Maximum depth: 657.308620 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.308620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853519; longitude = -118.707067; captureRadius = 10; duration = 53; initialDepth = 622.514646; finalDepth = 617.308620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:617.30862 # Seafloor depth:-657.308620 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 662.514646 meters looking forward 0.000000 meters along route # Maximum depth: 662.514646 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.514646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853068; longitude = -118.706997; captureRadius = 10; duration = 53; initialDepth = 626.159040; finalDepth = 622.514646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:622.514646 # Seafloor depth:-662.514646 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 666.159040 meters looking forward 0.000000 meters along route # Maximum depth: 666.159040 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 626.159040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852617; longitude = -118.706928; captureRadius = 10; duration = 53; initialDepth = 630.392838; finalDepth = 626.159040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:626.15904 # Seafloor depth:-666.159040 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 670.392838 meters looking forward 0.000000 meters along route # Maximum depth: 670.392838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.392838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852166; longitude = -118.706858; captureRadius = 10; duration = 53; initialDepth = 635.656123; finalDepth = 630.392838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:630.392838 # Seafloor depth:-670.392838 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 675.656123 meters looking forward 0.000000 meters along route # Maximum depth: 675.656123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.656123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851715; longitude = -118.706788; captureRadius = 10; duration = 53; initialDepth = 641.860451; finalDepth = 635.656123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:635.656123 # Seafloor depth:-675.656123 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 681.860451 meters looking forward 0.000000 meters along route # Maximum depth: 681.860451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.860451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851264; longitude = -118.706718; captureRadius = 10; duration = 53; initialDepth = 648.965543; finalDepth = 641.860451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:641.860451 # Seafloor depth:-681.860451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 688.965543 meters looking forward 0.000000 meters along route # Maximum depth: 688.965543 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 648.965543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850813; longitude = -118.706648; captureRadius = 10; duration = 53; initialDepth = 654.734495; finalDepth = 648.965543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:648.965543 # Seafloor depth:-688.965543 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 694.734495 meters looking forward 0.000000 meters along route # Maximum depth: 694.734495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 654.734495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850362; longitude = -118.706578; captureRadius = 10; duration = 53; initialDepth = 659.633912; finalDepth = 654.734495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:654.734495 # Seafloor depth:-694.734495 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 699.633912 meters looking forward 0.000000 meters along route # Maximum depth: 699.633912 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 659.633912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849911; longitude = -118.706509; captureRadius = 10; duration = 53; initialDepth = 663.941581; finalDepth = 659.633912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:659.633912 # Seafloor depth:-699.633912 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 703.941581 meters looking forward 0.000000 meters along route # Maximum depth: 703.941581 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 663.941581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849460; longitude = -118.706439; captureRadius = 10; duration = 53; initialDepth = 670.344776; finalDepth = 663.941581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:663.941581 # Seafloor depth:-703.941581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 710.344776 meters looking forward 0.000000 meters along route # Maximum depth: 710.344776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 670.344776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849010; longitude = -118.706369; captureRadius = 10; duration = 53; initialDepth = 674.729121; finalDepth = 670.344776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:670.344776 # Seafloor depth:-710.344776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 714.729121 meters looking forward 0.000000 meters along route # Maximum depth: 714.729121 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.729121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848559; longitude = -118.706299; captureRadius = 10; duration = 53; initialDepth = 680.723032; finalDepth = 674.729121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:674.729121 # Seafloor depth:-714.729121 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 720.723032 meters looking forward 0.000000 meters along route # Maximum depth: 720.723032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.723032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848108; longitude = -118.706229; captureRadius = 10; duration = 53; initialDepth = 684.763832; finalDepth = 680.723032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:680.723032 # Seafloor depth:-720.723032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 724.763832 meters looking forward 0.000000 meters along route # Maximum depth: 724.763832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.763832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847657; longitude = -118.706159; captureRadius = 10; duration = 53; initialDepth = 688.548795; finalDepth = 684.763832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:684.763832 # Seafloor depth:-724.763832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 728.548795 meters looking forward 0.000000 meters along route # Maximum depth: 728.548795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.548795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847206; longitude = -118.706090; captureRadius = 10; duration = 53; initialDepth = 692.062795; finalDepth = 688.548795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.548795 # Seafloor depth:-728.548795 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 732.062795 meters looking forward 0.000000 meters along route # Maximum depth: 732.062795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.062795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.846755; longitude = -118.706020; captureRadius = 10; duration = 53; initialDepth = 693.607255; finalDepth = 692.062795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:692.062795 # Seafloor depth:-732.062795 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 733.607255 meters looking forward 0.000000 meters along route # Maximum depth: 733.607255 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.607255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.846304; longitude = -118.705950; captureRadius = 10; duration = 53; initialDepth = 695.562958; finalDepth = 693.607255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:693.607255 # Seafloor depth:-733.607255 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 735.562958 meters looking forward 0.000000 meters along route # Maximum depth: 735.562958 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.562958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.845853; longitude = -118.705880; captureRadius = 10; duration = 53; initialDepth = 697.609806; finalDepth = 695.562958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:695.562958 # Seafloor depth:-735.562958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 737.609806 meters looking forward 0.000000 meters along route # Maximum depth: 737.609806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.609806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.845402; longitude = -118.705810; captureRadius = 10; duration = 53; initialDepth = 699.730672; finalDepth = 697.609806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:697.609806 # Seafloor depth:-737.609806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 739.730672 meters looking forward 0.000000 meters along route # Maximum depth: 739.730672 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.730672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.844951; longitude = -118.705741; captureRadius = 10; duration = 53; initialDepth = 699.291289; finalDepth = 699.730672; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.730672 # Seafloor depth:-739.730672 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 739.291289 meters looking forward 0.000000 meters along route # Maximum depth: 739.291289 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.291289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.844501; longitude = -118.705671; captureRadius = 10; duration = 53; initialDepth = 698.580205; finalDepth = 699.291289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.291289 # Seafloor depth:-739.291289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 738.580205 meters looking forward 0.000000 meters along route # Maximum depth: 738.580205 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.580205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.844050; longitude = -118.705601; captureRadius = 10; duration = 53; initialDepth = 700.180093; finalDepth = 698.580205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.580205 # Seafloor depth:-738.580205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 53.687574 meters # Minimum depth: 740.180093 meters looking forward 0.000000 meters along route # Maximum depth: 740.180093 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.843599; longitude = -118.705531; captureRadius = 10; duration = 53; initialDepth = 704.181763; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.1800930000001 # Actual altitude: 50 # Commanded vehicle depth:700 # Seafloor depth:-740.180093 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 66 # Segment length 53.687574 meters # Minimum depth: 744.181763 meters looking forward 0.000000 meters along route # Maximum depth: 744.181763 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.843088; longitude = -118.705452; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 700.941966; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.181763 # Actual altitude: 50 # Commanded vehicle depth:700 # Seafloor depth:-744.181763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 53.687574 meters # Minimum depth: 740.941966 meters looking forward 0.000000 meters along route # Maximum depth: 740.941966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.843441; longitude = -118.705164; captureRadius = 10; duration = 53; initialDepth = 697.987205; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.181763 # Actual altitude: 50 # Commanded vehicle depth:700 # Seafloor depth:-740.941966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 53.687574 meters # Minimum depth: 737.987205 meters looking forward 0.000000 meters along route # Maximum depth: 737.987205 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.987205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.843838; longitude = -118.704840; captureRadius = 10; duration = 53; initialDepth = 697.040306; finalDepth = 697.987205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.941966 # Actual altitude: 50 # Commanded vehicle depth:697.987205 # Seafloor depth:-737.987205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 53.687574 meters # Minimum depth: 737.040306 meters looking forward 0.000000 meters along route # Maximum depth: 737.040306 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.040306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.844234; longitude = -118.704516; captureRadius = 10; duration = 53; initialDepth = 697.181996; finalDepth = 697.040306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:697.040306 # Seafloor depth:-737.040306 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 53.687574 meters # Minimum depth: 737.181996 meters looking forward 0.000000 meters along route # Maximum depth: 737.181996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.181996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.844681; longitude = -118.704151; captureRadius = 10; duration = 53; initialDepth = 699.224472; finalDepth = 697.181996; 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:697.181996 # Seafloor depth:-737.181996 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 65 # Segment length 53.687574 meters # Minimum depth: 739.224472 meters looking forward 0.000000 meters along route # Maximum depth: 739.224472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.224472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.845072; longitude = -118.703832; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 699.147536; finalDepth = 699.224472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.224472 # Seafloor depth:-739.224472 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 739.147536 meters looking forward 0.000000 meters along route # Maximum depth: 739.147536 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.147536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.845312; longitude = -118.703869; captureRadius = 10; duration = 53; initialDepth = 698.399345; finalDepth = 699.147536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.147536 # Seafloor depth:-739.147536 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 738.399345 meters looking forward 0.000000 meters along route # Maximum depth: 738.399345 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.399345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.845763; longitude = -118.703938; captureRadius = 10; duration = 53; initialDepth = 696.804313; finalDepth = 698.399345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.399345 # Seafloor depth:-738.399345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 736.804313 meters looking forward 0.000000 meters along route # Maximum depth: 736.804313 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.804313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.846214; longitude = -118.704008; captureRadius = 10; duration = 53; initialDepth = 692.163719; finalDepth = 696.804313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:696.804313 # Seafloor depth:-736.804313 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 732.163719 meters looking forward 0.000000 meters along route # Maximum depth: 732.163719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.163719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.846665; longitude = -118.704077; captureRadius = 10; duration = 53; initialDepth = 684.655662; finalDepth = 692.163719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:692.163719 # Seafloor depth:-732.163719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 724.655662 meters looking forward 0.000000 meters along route # Maximum depth: 724.655662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.655662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847116; longitude = -118.704147; captureRadius = 10; duration = 53; initialDepth = 673.875379; finalDepth = 684.655662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:684.655662 # Seafloor depth:-724.655662 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 713.875379 meters looking forward 0.000000 meters along route # Maximum depth: 713.875379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.875379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847567; longitude = -118.704216; captureRadius = 10; duration = 53; initialDepth = 661.146734; finalDepth = 673.875379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:673.875379 # Seafloor depth:-713.875379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 701.146734 meters looking forward 0.000000 meters along route # Maximum depth: 701.146734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 661.146734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848018; longitude = -118.704286; captureRadius = 10; duration = 53; initialDepth = 654.544161; finalDepth = 661.146734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:661.146734 # Seafloor depth:-701.146734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 694.544161 meters looking forward 0.000000 meters along route # Maximum depth: 694.544161 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 654.544161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848468; longitude = -118.704355; captureRadius = 10; duration = 53; initialDepth = 648.297514; finalDepth = 654.544161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:654.544161 # Seafloor depth:-694.544161 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 688.297514 meters looking forward 0.000000 meters along route # Maximum depth: 688.297514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 648.297514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848919; longitude = -118.704425; captureRadius = 10; duration = 53; initialDepth = 646.149020; finalDepth = 648.297514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:648.297514 # Seafloor depth:-688.297514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 686.149020 meters looking forward 0.000000 meters along route # Maximum depth: 686.149020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.149020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849370; longitude = -118.704494; captureRadius = 10; duration = 53; initialDepth = 645.531757; finalDepth = 646.149020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:646.14902 # Seafloor depth:-686.149020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 685.531757 meters looking forward 0.000000 meters along route # Maximum depth: 685.531757 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 645.531757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849821; longitude = -118.704564; captureRadius = 10; duration = 53; initialDepth = 645.650399; finalDepth = 645.531757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:645.531757 # Seafloor depth:-685.531757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 685.650399 meters looking forward 0.000000 meters along route # Maximum depth: 685.650399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 645.650399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850272; longitude = -118.704633; captureRadius = 10; duration = 53; initialDepth = 646.509554; finalDepth = 645.650399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:645.650399 # Seafloor depth:-685.650399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 686.509554 meters looking forward 0.000000 meters along route # Maximum depth: 686.509554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.509554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850723; longitude = -118.704703; captureRadius = 10; duration = 53; initialDepth = 646.045112; finalDepth = 646.509554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:646.509554 # Seafloor depth:-686.509554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 686.045112 meters looking forward 0.000000 meters along route # Maximum depth: 686.045112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.045112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851174; longitude = -118.704772; captureRadius = 10; duration = 53; initialDepth = 644.177816; finalDepth = 646.045112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:646.045112 # Seafloor depth:-686.045112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 684.177816 meters looking forward 0.000000 meters along route # Maximum depth: 684.177816 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.177816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851625; longitude = -118.704842; captureRadius = 10; duration = 53; initialDepth = 643.592176; finalDepth = 644.177816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:644.177816 # Seafloor depth:-684.177816 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 683.592176 meters looking forward 0.000000 meters along route # Maximum depth: 683.592176 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 643.592176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852076; longitude = -118.704911; captureRadius = 10; duration = 53; initialDepth = 642.348346; finalDepth = 643.592176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:643.592176 # Seafloor depth:-683.592176 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 682.348346 meters looking forward 0.000000 meters along route # Maximum depth: 682.348346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.348346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852527; longitude = -118.704980; captureRadius = 10; duration = 53; initialDepth = 639.227348; finalDepth = 642.348346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:642.348346 # Seafloor depth:-682.348346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 679.227348 meters looking forward 0.000000 meters along route # Maximum depth: 679.227348 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 639.227348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852978; longitude = -118.705050; captureRadius = 10; duration = 53; initialDepth = 630.699677; finalDepth = 639.227348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:639.227348 # Seafloor depth:-679.227348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 670.699677 meters looking forward 0.000000 meters along route # Maximum depth: 670.699677 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.699677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853428; longitude = -118.705119; captureRadius = 10; duration = 53; initialDepth = 623.300774; finalDepth = 630.699677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:630.699677 # Seafloor depth:-670.699677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 663.300774 meters looking forward 0.000000 meters along route # Maximum depth: 663.300774 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.300774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853879; longitude = -118.705189; captureRadius = 10; duration = 53; initialDepth = 617.392949; finalDepth = 623.300774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:623.300774 # Seafloor depth:-663.300774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 657.392949 meters looking forward 0.000000 meters along route # Maximum depth: 657.392949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.392949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854330; longitude = -118.705258; captureRadius = 10; duration = 53; initialDepth = 612.810469; finalDepth = 617.392949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:617.392949 # Seafloor depth:-657.392949 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 652.810469 meters looking forward 0.000000 meters along route # Maximum depth: 652.810469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.810469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854781; longitude = -118.705328; captureRadius = 10; duration = 53; initialDepth = 609.194493; finalDepth = 612.810469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:612.810469 # Seafloor depth:-652.810469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 649.194493 meters looking forward 0.000000 meters along route # Maximum depth: 649.194493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.194493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855232; longitude = -118.705397; captureRadius = 10; duration = 53; initialDepth = 606.626645; finalDepth = 609.194493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:609.194493 # Seafloor depth:-649.194493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 646.626645 meters looking forward 0.000000 meters along route # Maximum depth: 646.626645 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 606.626645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855683; longitude = -118.705467; captureRadius = 10; duration = 53; initialDepth = 606.407297; finalDepth = 606.626645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:606.626645 # Seafloor depth:-646.626645 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 646.407297 meters looking forward 0.000000 meters along route # Maximum depth: 646.407297 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 606.407297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856134; longitude = -118.705536; captureRadius = 10; duration = 53; initialDepth = 607.008317; finalDepth = 606.407297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:606.407297 # Seafloor depth:-646.407297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 647.008317 meters looking forward 0.000000 meters along route # Maximum depth: 647.008317 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.008317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856585; longitude = -118.705606; captureRadius = 10; duration = 53; initialDepth = 607.609642; finalDepth = 607.008317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:607.008317 # Seafloor depth:-647.008317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 647.609642 meters looking forward 0.000000 meters along route # Maximum depth: 647.609642 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.609642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857036; longitude = -118.705675; captureRadius = 10; duration = 53; initialDepth = 608.718281; finalDepth = 607.609642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:607.609642 # Seafloor depth:-647.609642 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 648.718281 meters looking forward 0.000000 meters along route # Maximum depth: 648.718281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.718281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857487; longitude = -118.705745; captureRadius = 10; duration = 53; initialDepth = 608.560846; finalDepth = 608.718281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.718281 # Seafloor depth:-648.718281 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 648.560846 meters looking forward 0.000000 meters along route # Maximum depth: 648.560846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.560846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857937; longitude = -118.705814; captureRadius = 10; duration = 53; initialDepth = 609.202967; finalDepth = 608.560846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.560846 # Seafloor depth:-648.560846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 649.202967 meters looking forward 0.000000 meters along route # Maximum depth: 649.202967 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.202967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858388; longitude = -118.705884; captureRadius = 10; duration = 53; initialDepth = 609.732788; finalDepth = 609.202967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:609.202967 # Seafloor depth:-649.202967 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 649.732788 meters looking forward 0.000000 meters along route # Maximum depth: 649.732788 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.732788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858839; longitude = -118.705953; captureRadius = 10; duration = 53; initialDepth = 608.943025; finalDepth = 609.732788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:609.732788 # Seafloor depth:-649.732788 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 648.943025 meters looking forward 0.000000 meters along route # Maximum depth: 648.943025 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.943025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859290; longitude = -118.706023; captureRadius = 10; duration = 53; initialDepth = 607.953120; finalDepth = 608.943025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.943025 # Seafloor depth:-648.943025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 647.953120 meters looking forward 0.000000 meters along route # Maximum depth: 647.953120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.953120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859741; longitude = -118.706092; captureRadius = 10; duration = 53; initialDepth = 607.725261; finalDepth = 607.953120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:607.95312 # Seafloor depth:-647.953120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 647.725261 meters looking forward 0.000000 meters along route # Maximum depth: 647.725261 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.725261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860192; longitude = -118.706161; captureRadius = 10; duration = 53; initialDepth = 608.128080; finalDepth = 607.725261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:607.725261 # Seafloor depth:-647.725261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 648.128080 meters looking forward 0.000000 meters along route # Maximum depth: 648.128080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.128080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860643; longitude = -118.706231; captureRadius = 10; duration = 53; initialDepth = 608.253022; finalDepth = 608.128080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.12808 # Seafloor depth:-648.128080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 648.253022 meters looking forward 0.000000 meters along route # Maximum depth: 648.253022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.253022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861094; longitude = -118.706300; captureRadius = 10; duration = 53; initialDepth = 608.152347; finalDepth = 608.253022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.253022 # Seafloor depth:-648.253022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 648.152347 meters looking forward 0.000000 meters along route # Maximum depth: 648.152347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.152347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861545; longitude = -118.706370; captureRadius = 10; duration = 53; initialDepth = 610.735344; finalDepth = 608.152347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.152347 # Seafloor depth:-648.152347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 650.735344 meters looking forward 0.000000 meters along route # Maximum depth: 650.735344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.735344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861996; longitude = -118.706439; captureRadius = 10; duration = 53; initialDepth = 609.498767; finalDepth = 610.735344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:610.735344 # Seafloor depth:-650.735344 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 649.498767 meters looking forward 0.000000 meters along route # Maximum depth: 649.498767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.498767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862447; longitude = -118.706509; captureRadius = 10; duration = 53; initialDepth = 603.351229; finalDepth = 609.498767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:609.498767 # Seafloor depth:-649.498767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 643.351229 meters looking forward 0.000000 meters along route # Maximum depth: 643.351229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.351229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862897; longitude = -118.706578; captureRadius = 10; duration = 53; initialDepth = 596.294409; finalDepth = 603.351229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:603.351229 # Seafloor depth:-643.351229 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 636.294409 meters looking forward 0.000000 meters along route # Maximum depth: 636.294409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.294409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863348; longitude = -118.706648; captureRadius = 10; duration = 53; initialDepth = 590.876253; finalDepth = 596.294409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.294409 # Seafloor depth:-636.294409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 630.876253 meters looking forward 0.000000 meters along route # Maximum depth: 630.876253 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.876253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863799; longitude = -118.706717; captureRadius = 10; duration = 53; initialDepth = 585.581045; finalDepth = 590.876253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.876253 # Seafloor depth:-630.876253 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 625.581045 meters looking forward 0.000000 meters along route # Maximum depth: 625.581045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.581045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864250; longitude = -118.706787; captureRadius = 10; duration = 53; initialDepth = 582.342232; finalDepth = 585.581045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.581045 # Seafloor depth:-625.581045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 622.342232 meters looking forward 0.000000 meters along route # Maximum depth: 622.342232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.342232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864701; longitude = -118.706856; captureRadius = 10; duration = 53; initialDepth = 580.123696; finalDepth = 582.342232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.342232 # Seafloor depth:-622.342232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 620.123696 meters looking forward 0.000000 meters along route # Maximum depth: 620.123696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.123696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865152; longitude = -118.706926; captureRadius = 10; duration = 53; initialDepth = 579.149986; finalDepth = 580.123696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.123696 # Seafloor depth:-620.123696 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 619.149986 meters looking forward 0.000000 meters along route # Maximum depth: 619.149986 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.149986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865603; longitude = -118.706995; captureRadius = 10; duration = 53; initialDepth = 581.177154; finalDepth = 579.149986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.149986 # Seafloor depth:-619.149986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 621.177154 meters looking forward 0.000000 meters along route # Maximum depth: 621.177154 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.177154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866054; longitude = -118.707065; captureRadius = 10; duration = 53; initialDepth = 584.153216; finalDepth = 581.177154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.177154 # Seafloor depth:-621.177154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 624.153216 meters looking forward 0.000000 meters along route # Maximum depth: 624.153216 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.153216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866505; longitude = -118.707134; captureRadius = 10; duration = 53; initialDepth = 587.180506; finalDepth = 584.153216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.153216 # Seafloor depth:-624.153216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 627.180506 meters looking forward 0.000000 meters along route # Maximum depth: 627.180506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.180506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866956; longitude = -118.707203; captureRadius = 10; duration = 53; initialDepth = 587.172486; finalDepth = 587.180506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.180506 # Seafloor depth:-627.180506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 627.172486 meters looking forward 0.000000 meters along route # Maximum depth: 627.172486 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.172486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867406; longitude = -118.707273; captureRadius = 10; duration = 53; initialDepth = 579.986280; finalDepth = 587.172486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.172486 # Seafloor depth:-627.172486 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 619.986280 meters looking forward 0.000000 meters along route # Maximum depth: 619.986280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.986280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867857; longitude = -118.707342; captureRadius = 10; duration = 53; initialDepth = 570.881225; finalDepth = 579.986280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.98628 # Seafloor depth:-619.986280 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 610.881225 meters looking forward 0.000000 meters along route # Maximum depth: 610.881225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.881225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868308; longitude = -118.707412; captureRadius = 10; duration = 53; initialDepth = 564.212601; finalDepth = 570.881225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:570.881225 # Seafloor depth:-610.881225 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 604.212601 meters looking forward 0.000000 meters along route # Maximum depth: 604.212601 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.212601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868759; longitude = -118.707481; captureRadius = 10; duration = 53; initialDepth = 562.481337; finalDepth = 564.212601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:564.212601 # Seafloor depth:-604.212601 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 602.481337 meters looking forward 0.000000 meters along route # Maximum depth: 602.481337 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.481337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869210; longitude = -118.707551; captureRadius = 10; duration = 53; initialDepth = 564.465244; finalDepth = 562.481337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:562.481337 # Seafloor depth:-602.481337 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 604.465244 meters looking forward 0.000000 meters along route # Maximum depth: 604.465244 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.465244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869661; longitude = -118.707620; captureRadius = 10; duration = 53; initialDepth = 566.893070; finalDepth = 564.465244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:564.465244 # Seafloor depth:-604.465244 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 606.893070 meters looking forward 0.000000 meters along route # Maximum depth: 606.893070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.893070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870112; longitude = -118.707690; captureRadius = 10; duration = 53; initialDepth = 569.697416; finalDepth = 566.893070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:566.89307 # Seafloor depth:-606.893070 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 609.697416 meters looking forward 0.000000 meters along route # Maximum depth: 609.697416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.697416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870563; longitude = -118.707759; captureRadius = 10; duration = 53; initialDepth = 569.375943; finalDepth = 569.697416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.697416 # Seafloor depth:-609.697416 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 609.375943 meters looking forward 0.000000 meters along route # Maximum depth: 609.375943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.375943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871014; longitude = -118.707829; captureRadius = 10; duration = 53; initialDepth = 569.749505; finalDepth = 569.375943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.375943 # Seafloor depth:-609.375943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 609.749505 meters looking forward 0.000000 meters along route # Maximum depth: 609.749505 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.749505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871465; longitude = -118.707898; captureRadius = 10; duration = 53; initialDepth = 572.917974; finalDepth = 569.749505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.749505 # Seafloor depth:-609.749505 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 612.917974 meters looking forward 0.000000 meters along route # Maximum depth: 612.917974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.917974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871916; longitude = -118.707968; captureRadius = 10; duration = 53; initialDepth = 575.123476; finalDepth = 572.917974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:572.917974 # Seafloor depth:-612.917974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 615.123476 meters looking forward 0.000000 meters along route # Maximum depth: 615.123476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.123476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872366; longitude = -118.708037; captureRadius = 10; duration = 53; initialDepth = 575.076597; finalDepth = 575.123476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.123476 # Seafloor depth:-615.123476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 615.076597 meters looking forward 0.000000 meters along route # Maximum depth: 615.076597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.076597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872817; longitude = -118.708107; captureRadius = 10; duration = 53; initialDepth = 574.749161; finalDepth = 575.076597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.076597 # Seafloor depth:-615.076597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 614.749161 meters looking forward 0.000000 meters along route # Maximum depth: 614.749161 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.749161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873268; longitude = -118.708176; captureRadius = 10; duration = 53; initialDepth = 573.544506; finalDepth = 574.749161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.749161 # Seafloor depth:-614.749161 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 613.544506 meters looking forward 0.000000 meters along route # Maximum depth: 613.544506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.544506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873719; longitude = -118.708246; captureRadius = 10; duration = 53; initialDepth = 564.822559; finalDepth = 573.544506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.544506 # Seafloor depth:-613.544506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 604.822559 meters looking forward 0.000000 meters along route # Maximum depth: 604.822559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.822559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874170; longitude = -118.708315; captureRadius = 10; duration = 53; initialDepth = 549.715485; finalDepth = 564.822559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:564.822559 # Seafloor depth:-604.822559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 589.715485 meters looking forward 0.000000 meters along route # Maximum depth: 589.715485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.715485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874621; longitude = -118.708384; captureRadius = 10; duration = 53; initialDepth = 538.301585; finalDepth = 549.715485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:549.715485 # Seafloor depth:-589.715485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 578.301585 meters looking forward 0.000000 meters along route # Maximum depth: 578.301585 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.301585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875072; longitude = -118.708454; captureRadius = 10; duration = 53; initialDepth = 537.451567; finalDepth = 538.301585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.301585 # Seafloor depth:-578.301585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 577.451567 meters looking forward 0.000000 meters along route # Maximum depth: 577.451567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.451567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875523; longitude = -118.708523; captureRadius = 10; duration = 53; initialDepth = 540.809083; finalDepth = 537.451567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.451567 # Seafloor depth:-577.451567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 580.809083 meters looking forward 0.000000 meters along route # Maximum depth: 580.809083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.809083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875974; longitude = -118.708593; captureRadius = 10; duration = 53; initialDepth = 543.817954; finalDepth = 540.809083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.809083 # Seafloor depth:-580.809083 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 583.817954 meters looking forward 0.000000 meters along route # Maximum depth: 583.817954 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.817954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876425; longitude = -118.708662; captureRadius = 10; duration = 53; initialDepth = 545.318504; finalDepth = 543.817954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.817954 # Seafloor depth:-583.817954 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 585.318504 meters looking forward 0.000000 meters along route # Maximum depth: 585.318504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.318504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876876; longitude = -118.708732; captureRadius = 10; duration = 53; initialDepth = 545.399950; finalDepth = 545.318504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.318504 # Seafloor depth:-585.318504 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 585.399950 meters looking forward 0.000000 meters along route # Maximum depth: 585.399950 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.399950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877326; longitude = -118.708801; captureRadius = 10; duration = 53; initialDepth = 547.967820; finalDepth = 545.399950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.39995 # Seafloor depth:-585.399950 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 587.967820 meters looking forward 0.000000 meters along route # Maximum depth: 587.967820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.967820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877777; longitude = -118.708871; captureRadius = 10; duration = 53; initialDepth = 554.477786; finalDepth = 547.967820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.96782 # Seafloor depth:-587.967820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 594.477786 meters looking forward 0.000000 meters along route # Maximum depth: 594.477786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.477786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878228; longitude = -118.708940; captureRadius = 10; duration = 53; initialDepth = 561.406192; finalDepth = 554.477786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.477786 # Seafloor depth:-594.477786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 601.406192 meters looking forward 0.000000 meters along route # Maximum depth: 601.406192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.406192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878679; longitude = -118.709010; captureRadius = 10; duration = 53; initialDepth = 560.460342; finalDepth = 561.406192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:561.406192 # Seafloor depth:-601.406192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 600.460342 meters looking forward 0.000000 meters along route # Maximum depth: 600.460342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.460342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879130; longitude = -118.709079; captureRadius = 10; duration = 53; initialDepth = 551.589097; finalDepth = 560.460342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:560.460342 # Seafloor depth:-600.460342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 591.589097 meters looking forward 0.000000 meters along route # Maximum depth: 591.589097 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.589097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879581; longitude = -118.709149; captureRadius = 10; duration = 53; initialDepth = 532.858482; finalDepth = 551.589097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.589097 # Seafloor depth:-591.589097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 572.858482 meters looking forward 0.000000 meters along route # Maximum depth: 572.858482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.858482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880032; longitude = -118.709218; captureRadius = 10; duration = 53; initialDepth = 514.543633; finalDepth = 532.858482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:532.858482 # Seafloor depth:-572.858482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 554.543633 meters looking forward 0.000000 meters along route # Maximum depth: 554.543633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.543633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880483; longitude = -118.709288; captureRadius = 10; duration = 53; initialDepth = 508.916533; finalDepth = 514.543633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:514.543633 # Seafloor depth:-554.543633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 548.916533 meters looking forward 0.000000 meters along route # Maximum depth: 548.916533 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.916533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880934; longitude = -118.709357; captureRadius = 10; duration = 53; initialDepth = 506.472638; finalDepth = 508.916533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:508.916533 # Seafloor depth:-548.916533 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 546.472638 meters looking forward 0.000000 meters along route # Maximum depth: 546.472638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.472638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881385; longitude = -118.709426; captureRadius = 10; duration = 53; initialDepth = 504.209420; finalDepth = 506.472638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.472638 # Seafloor depth:-546.472638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 544.209420 meters looking forward 0.000000 meters along route # Maximum depth: 544.209420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.209420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881835; longitude = -118.709496; captureRadius = 10; duration = 53; initialDepth = 503.305029; finalDepth = 504.209420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.20942 # Seafloor depth:-544.209420 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 543.305029 meters looking forward 0.000000 meters along route # Maximum depth: 543.305029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.305029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882286; longitude = -118.709565; captureRadius = 10; duration = 53; initialDepth = 503.234849; finalDepth = 503.305029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.305029 # Seafloor depth:-543.305029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 543.234849 meters looking forward 0.000000 meters along route # Maximum depth: 543.234849 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.234849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882737; longitude = -118.709635; captureRadius = 10; duration = 53; initialDepth = 503.104536; finalDepth = 503.234849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.234849 # Seafloor depth:-543.234849 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 543.104536 meters looking forward 0.000000 meters along route # Maximum depth: 543.104536 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.104536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883188; longitude = -118.709704; captureRadius = 10; duration = 53; initialDepth = 502.289123; finalDepth = 503.104536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.104536 # Seafloor depth:-543.104536 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 542.289123 meters looking forward 0.000000 meters along route # Maximum depth: 542.289123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.289123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883639; longitude = -118.709774; captureRadius = 10; duration = 53; initialDepth = 500.626547; finalDepth = 502.289123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:502.289123 # Seafloor depth:-542.289123 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 540.626547 meters looking forward 0.000000 meters along route # Maximum depth: 540.626547 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.626547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884090; longitude = -118.709843; captureRadius = 10; duration = 53; initialDepth = 498.849259; finalDepth = 500.626547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.626547 # Seafloor depth:-540.626547 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 538.849259 meters looking forward 0.000000 meters along route # Maximum depth: 538.849259 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.849259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884541; longitude = -118.709913; captureRadius = 10; duration = 53; initialDepth = 496.514418; finalDepth = 498.849259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.849259 # Seafloor depth:-538.849259 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 53.687574 meters # Minimum depth: 536.514418 meters looking forward 0.000000 meters along route # Maximum depth: 536.514418 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.514418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884992; longitude = -118.709982; captureRadius = 10; duration = 53; initialDepth = 495.280563; finalDepth = 496.514418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:496.514418 # Seafloor depth:-536.514418 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 64 # Segment length 53.687574 meters # Minimum depth: 535.280563 meters looking forward 0.000000 meters along route # Maximum depth: 535.280563 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.280563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885503; longitude = -118.710061; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 495.183655; finalDepth = 495.280563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:495.280563 # Seafloor depth:-535.280563 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 53.687574 meters # Minimum depth: 535.183655 meters looking forward 0.000000 meters along route # Maximum depth: 535.183655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.183655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885524; longitude = -118.709917; captureRadius = 10; duration = 53; initialDepth = 494.267036; finalDepth = 495.183655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:495.183655 # Seafloor depth:-535.183655 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 53.687574 meters # Minimum depth: 534.267036 meters looking forward 0.000000 meters along route # Maximum depth: 534.267036 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.267036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885604; longitude = -118.709377; captureRadius = 10; duration = 53; initialDepth = 493.370565; finalDepth = 494.267036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:494.267036 # Seafloor depth:-534.267036 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 53.687574 meters # Minimum depth: 533.370565 meters looking forward 0.000000 meters along route # Maximum depth: 533.370565 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 493.370565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885683; longitude = -118.708837; captureRadius = 10; duration = 53; initialDepth = 492.616623; finalDepth = 493.370565; 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:493.370565 # Seafloor depth:-533.370565 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 63 # Segment length 53.687574 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: 700.000000 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 = 53; # abortOnTimeout = True; initialDepth = 493.024033; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 533.024033 meters looking forward 0.000000 meters along route # Maximum depth: 533.024033 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 493.024033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885713; longitude = -118.708216; captureRadius = 10; duration = 53; initialDepth = 493.475400; finalDepth = 493.024033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:493.024033 # Seafloor depth:-533.024033 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 533.475400 meters looking forward 0.000000 meters along route # Maximum depth: 533.475400 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 493.475400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885262; longitude = -118.708144; captureRadius = 10; duration = 53; initialDepth = 495.394464; finalDepth = 493.475400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:493.4754 # Seafloor depth:-533.475400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 535.394464 meters looking forward 0.000000 meters along route # Maximum depth: 535.394464 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.394464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884811; longitude = -118.708073; captureRadius = 10; duration = 53; initialDepth = 498.506481; finalDepth = 495.394464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:495.394464 # Seafloor depth:-535.394464 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 538.506481 meters looking forward 0.000000 meters along route # Maximum depth: 538.506481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.506481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884361; longitude = -118.708002; captureRadius = 10; duration = 53; initialDepth = 503.405647; finalDepth = 498.506481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.506481 # Seafloor depth:-538.506481 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 543.405647 meters looking forward 0.000000 meters along route # Maximum depth: 543.405647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.405647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883910; longitude = -118.707930; captureRadius = 10; duration = 53; initialDepth = 506.817942; finalDepth = 503.405647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.405647 # Seafloor depth:-543.405647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 546.817942 meters looking forward 0.000000 meters along route # Maximum depth: 546.817942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.817942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883459; longitude = -118.707859; captureRadius = 10; duration = 53; initialDepth = 503.989436; finalDepth = 506.817942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.817942 # Seafloor depth:-546.817942 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 543.989436 meters looking forward 0.000000 meters along route # Maximum depth: 543.989436 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.989436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883008; longitude = -118.707787; captureRadius = 10; duration = 53; initialDepth = 503.848470; finalDepth = 503.989436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.989436 # Seafloor depth:-543.989436 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 543.848470 meters looking forward 0.000000 meters along route # Maximum depth: 543.848470 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.848470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882557; longitude = -118.707716; captureRadius = 10; duration = 53; initialDepth = 501.303654; finalDepth = 503.848470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.84847 # Seafloor depth:-543.848470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 541.303654 meters looking forward 0.000000 meters along route # Maximum depth: 541.303654 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.303654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882106; longitude = -118.707645; captureRadius = 10; duration = 53; initialDepth = 502.568220; finalDepth = 501.303654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:501.303654 # Seafloor depth:-541.303654 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 542.568220 meters looking forward 0.000000 meters along route # Maximum depth: 542.568220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.568220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881655; longitude = -118.707573; captureRadius = 10; duration = 53; initialDepth = 504.469392; finalDepth = 502.568220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:502.56822 # Seafloor depth:-542.568220 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 544.469392 meters looking forward 0.000000 meters along route # Maximum depth: 544.469392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.469392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881204; longitude = -118.707502; captureRadius = 10; duration = 53; initialDepth = 507.530295; finalDepth = 504.469392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.469392 # Seafloor depth:-544.469392 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 547.530295 meters looking forward 0.000000 meters along route # Maximum depth: 547.530295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.530295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880753; longitude = -118.707431; captureRadius = 10; duration = 53; initialDepth = 515.388264; finalDepth = 507.530295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:507.530295 # Seafloor depth:-547.530295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 555.388264 meters looking forward 0.000000 meters along route # Maximum depth: 555.388264 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.388264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880302; longitude = -118.707359; captureRadius = 10; duration = 53; initialDepth = 529.500108; finalDepth = 515.388264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:515.388264 # Seafloor depth:-555.388264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 569.500108 meters looking forward 0.000000 meters along route # Maximum depth: 569.500108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.500108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879851; longitude = -118.707288; captureRadius = 10; duration = 53; initialDepth = 547.023113; finalDepth = 529.500108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:529.500108 # Seafloor depth:-569.500108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 587.023113 meters looking forward 0.000000 meters along route # Maximum depth: 587.023113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.023113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879400; longitude = -118.707217; captureRadius = 10; duration = 53; initialDepth = 554.352854; finalDepth = 547.023113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.023113 # Seafloor depth:-587.023113 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 594.352854 meters looking forward 0.000000 meters along route # Maximum depth: 594.352854 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.352854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878950; longitude = -118.707145; captureRadius = 10; duration = 53; initialDepth = 555.298177; finalDepth = 554.352854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.352854 # Seafloor depth:-594.352854 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 595.298177 meters looking forward 0.000000 meters along route # Maximum depth: 595.298177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.298177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878499; longitude = -118.707074; captureRadius = 10; duration = 53; initialDepth = 553.711259; finalDepth = 555.298177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:555.298177 # Seafloor depth:-595.298177 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 593.711259 meters looking forward 0.000000 meters along route # Maximum depth: 593.711259 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.711259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878048; longitude = -118.707003; captureRadius = 10; duration = 53; initialDepth = 545.430554; finalDepth = 553.711259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.711259 # Seafloor depth:-593.711259 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 585.430554 meters looking forward 0.000000 meters along route # Maximum depth: 585.430554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.430554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877597; longitude = -118.706931; captureRadius = 10; duration = 53; initialDepth = 538.014340; finalDepth = 545.430554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.430554 # Seafloor depth:-585.430554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 578.014340 meters looking forward 0.000000 meters along route # Maximum depth: 578.014340 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.014340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877146; longitude = -118.706860; captureRadius = 10; duration = 53; initialDepth = 530.307995; finalDepth = 538.014340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.01434 # Seafloor depth:-578.014340 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 570.307995 meters looking forward 0.000000 meters along route # Maximum depth: 570.307995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.307995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876695; longitude = -118.706789; captureRadius = 10; duration = 53; initialDepth = 530.261429; finalDepth = 530.307995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.307995 # Seafloor depth:-570.307995 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 570.261429 meters looking forward 0.000000 meters along route # Maximum depth: 570.261429 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.261429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876244; longitude = -118.706717; captureRadius = 10; duration = 53; initialDepth = 530.077501; finalDepth = 530.261429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.261429 # Seafloor depth:-570.261429 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 570.077501 meters looking forward 0.000000 meters along route # Maximum depth: 570.077501 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.077501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875793; longitude = -118.706646; captureRadius = 10; duration = 53; initialDepth = 529.846623; finalDepth = 530.077501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.077501 # Seafloor depth:-570.077501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 569.846623 meters looking forward 0.000000 meters along route # Maximum depth: 569.846623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.846623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875342; longitude = -118.706575; captureRadius = 10; duration = 53; initialDepth = 531.044632; finalDepth = 529.846623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:529.846623 # Seafloor depth:-569.846623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 571.044632 meters looking forward 0.000000 meters along route # Maximum depth: 571.044632 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.044632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874892; longitude = -118.706503; captureRadius = 10; duration = 53; initialDepth = 533.758818; finalDepth = 531.044632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:531.044632 # Seafloor depth:-571.044632 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 573.758818 meters looking forward 0.000000 meters along route # Maximum depth: 573.758818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.758818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874441; longitude = -118.706432; captureRadius = 10; duration = 53; initialDepth = 538.376894; finalDepth = 533.758818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:533.758818 # Seafloor depth:-573.758818 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 578.376894 meters looking forward 0.000000 meters along route # Maximum depth: 578.376894 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.376894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873990; longitude = -118.706361; captureRadius = 10; duration = 53; initialDepth = 541.722818; finalDepth = 538.376894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.376894 # Seafloor depth:-578.376894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 581.722818 meters looking forward 0.000000 meters along route # Maximum depth: 581.722818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.722818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873539; longitude = -118.706289; captureRadius = 10; duration = 53; initialDepth = 543.589597; finalDepth = 541.722818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.722818 # Seafloor depth:-581.722818 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 583.589597 meters looking forward 0.000000 meters along route # Maximum depth: 583.589597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.589597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873088; longitude = -118.706218; captureRadius = 10; duration = 53; initialDepth = 547.395584; finalDepth = 543.589597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.589597 # Seafloor depth:-583.589597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 587.395584 meters looking forward 0.000000 meters along route # Maximum depth: 587.395584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.395584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872637; longitude = -118.706146; captureRadius = 10; duration = 53; initialDepth = 551.003348; finalDepth = 547.395584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.395584 # Seafloor depth:-587.395584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 591.003348 meters looking forward 0.000000 meters along route # Maximum depth: 591.003348 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.003348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872186; longitude = -118.706075; captureRadius = 10; duration = 53; initialDepth = 552.734750; finalDepth = 551.003348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.003348 # Seafloor depth:-591.003348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 592.734750 meters looking forward 0.000000 meters along route # Maximum depth: 592.734750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.734750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871735; longitude = -118.706004; captureRadius = 10; duration = 53; initialDepth = 555.288538; finalDepth = 552.734750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.73475 # Seafloor depth:-592.734750 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 595.288538 meters looking forward 0.000000 meters along route # Maximum depth: 595.288538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.288538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871284; longitude = -118.705932; captureRadius = 10; duration = 53; initialDepth = 559.869265; finalDepth = 555.288538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:555.288538 # Seafloor depth:-595.288538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 599.869265 meters looking forward 0.000000 meters along route # Maximum depth: 599.869265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.869265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870833; longitude = -118.705861; captureRadius = 10; duration = 53; initialDepth = 565.426383; finalDepth = 559.869265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.869265 # Seafloor depth:-599.869265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 605.426383 meters looking forward 0.000000 meters along route # Maximum depth: 605.426383 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.426383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870382; longitude = -118.705790; captureRadius = 10; duration = 53; initialDepth = 571.677281; finalDepth = 565.426383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.426383 # Seafloor depth:-605.426383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 611.677281 meters looking forward 0.000000 meters along route # Maximum depth: 611.677281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.677281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869932; longitude = -118.705718; captureRadius = 10; duration = 53; initialDepth = 578.266344; finalDepth = 571.677281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.677281 # Seafloor depth:-611.677281 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 618.266344 meters looking forward 0.000000 meters along route # Maximum depth: 618.266344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.266344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869481; longitude = -118.705647; captureRadius = 10; duration = 53; initialDepth = 588.670330; finalDepth = 578.266344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.266344 # Seafloor depth:-618.266344 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 628.670330 meters looking forward 0.000000 meters along route # Maximum depth: 628.670330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.670330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869030; longitude = -118.705576; captureRadius = 10; duration = 53; initialDepth = 590.711863; finalDepth = 588.670330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.67033 # Seafloor depth:-628.670330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 630.711863 meters looking forward 0.000000 meters along route # Maximum depth: 630.711863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.711863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868579; longitude = -118.705504; captureRadius = 10; duration = 53; initialDepth = 591.535776; finalDepth = 590.711863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.711863 # Seafloor depth:-630.711863 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 631.535776 meters looking forward 0.000000 meters along route # Maximum depth: 631.535776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.535776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868128; longitude = -118.705433; captureRadius = 10; duration = 53; initialDepth = 588.862378; finalDepth = 591.535776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.535776 # Seafloor depth:-631.535776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 628.862378 meters looking forward 0.000000 meters along route # Maximum depth: 628.862378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.862378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867677; longitude = -118.705362; captureRadius = 10; duration = 53; initialDepth = 583.077576; finalDepth = 588.862378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.862378 # Seafloor depth:-628.862378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 623.077576 meters looking forward 0.000000 meters along route # Maximum depth: 623.077576 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.077576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867226; longitude = -118.705290; captureRadius = 10; duration = 53; initialDepth = 579.251054; finalDepth = 583.077576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:583.077576 # Seafloor depth:-623.077576 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 619.251054 meters looking forward 0.000000 meters along route # Maximum depth: 619.251054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.251054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866775; longitude = -118.705219; captureRadius = 10; duration = 53; initialDepth = 575.926621; finalDepth = 579.251054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.251054 # Seafloor depth:-619.251054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 615.926621 meters looking forward 0.000000 meters along route # Maximum depth: 615.926621 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.926621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866324; longitude = -118.705148; captureRadius = 10; duration = 53; initialDepth = 573.654062; finalDepth = 575.926621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.926621 # Seafloor depth:-615.926621 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 613.654062 meters looking forward 0.000000 meters along route # Maximum depth: 613.654062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.654062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865873; longitude = -118.705076; captureRadius = 10; duration = 53; initialDepth = 571.833131; finalDepth = 573.654062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.654062 # Seafloor depth:-613.654062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 611.833131 meters looking forward 0.000000 meters along route # Maximum depth: 611.833131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.833131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865423; longitude = -118.705005; captureRadius = 10; duration = 53; initialDepth = 571.577871; finalDepth = 571.833131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.833131 # Seafloor depth:-611.833131 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 611.577871 meters looking forward 0.000000 meters along route # Maximum depth: 611.577871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.577871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864972; longitude = -118.704934; captureRadius = 10; duration = 53; initialDepth = 574.564249; finalDepth = 571.577871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.577871 # Seafloor depth:-611.577871 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 614.564249 meters looking forward 0.000000 meters along route # Maximum depth: 614.564249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.564249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864521; longitude = -118.704862; captureRadius = 10; duration = 53; initialDepth = 583.004295; finalDepth = 574.564249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.564249 # Seafloor depth:-614.564249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 623.004295 meters looking forward 0.000000 meters along route # Maximum depth: 623.004295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.004295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864070; longitude = -118.704791; captureRadius = 10; duration = 53; initialDepth = 594.363586; finalDepth = 583.004295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:583.004295 # Seafloor depth:-623.004295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 634.363586 meters looking forward 0.000000 meters along route # Maximum depth: 634.363586 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.363586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863619; longitude = -118.704720; captureRadius = 10; duration = 53; initialDepth = 602.943846; finalDepth = 594.363586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.363586 # Seafloor depth:-634.363586 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 642.943846 meters looking forward 0.000000 meters along route # Maximum depth: 642.943846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 602.943846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863168; longitude = -118.704648; captureRadius = 10; duration = 53; initialDepth = 611.782432; finalDepth = 602.943846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:602.943846 # Seafloor depth:-642.943846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 651.782432 meters looking forward 0.000000 meters along route # Maximum depth: 651.782432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.782432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862717; longitude = -118.704577; captureRadius = 10; duration = 53; initialDepth = 615.116892; finalDepth = 611.782432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:611.782432 # Seafloor depth:-651.782432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 655.116892 meters looking forward 0.000000 meters along route # Maximum depth: 655.116892 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 615.116892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862266; longitude = -118.704506; captureRadius = 10; duration = 53; initialDepth = 614.505049; finalDepth = 615.116892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:615.116892 # Seafloor depth:-655.116892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 654.505049 meters looking forward 0.000000 meters along route # Maximum depth: 654.505049 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 614.505049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861815; longitude = -118.704434; captureRadius = 10; duration = 53; initialDepth = 610.667432; finalDepth = 614.505049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:614.505049 # Seafloor depth:-654.505049 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 650.667432 meters looking forward 0.000000 meters along route # Maximum depth: 650.667432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.667432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861364; longitude = -118.704363; captureRadius = 10; duration = 53; initialDepth = 611.214542; finalDepth = 610.667432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:610.667432 # Seafloor depth:-650.667432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 651.214542 meters looking forward 0.000000 meters along route # Maximum depth: 651.214542 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.214542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860913; longitude = -118.704291; captureRadius = 10; duration = 53; initialDepth = 619.210126; finalDepth = 611.214542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:611.214542 # Seafloor depth:-651.214542 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 659.210126 meters looking forward 0.000000 meters along route # Maximum depth: 659.210126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.210126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860463; longitude = -118.704220; captureRadius = 10; duration = 53; initialDepth = 622.282665; finalDepth = 619.210126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.210126 # Seafloor depth:-659.210126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 662.282665 meters looking forward 0.000000 meters along route # Maximum depth: 662.282665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.282665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860012; longitude = -118.704149; captureRadius = 10; duration = 53; initialDepth = 622.595182; finalDepth = 622.282665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:622.282665 # Seafloor depth:-662.282665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 662.595182 meters looking forward 0.000000 meters along route # Maximum depth: 662.595182 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.595182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859561; longitude = -118.704077; captureRadius = 10; duration = 53; initialDepth = 622.456096; finalDepth = 622.595182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:622.595182 # Seafloor depth:-662.595182 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 662.456096 meters looking forward 0.000000 meters along route # Maximum depth: 662.456096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.456096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859110; longitude = -118.704006; captureRadius = 10; duration = 53; initialDepth = 619.862460; finalDepth = 622.456096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:622.456096 # Seafloor depth:-662.456096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 659.862460 meters looking forward 0.000000 meters along route # Maximum depth: 659.862460 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.862460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858659; longitude = -118.703935; captureRadius = 10; duration = 53; initialDepth = 618.022754; finalDepth = 619.862460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.86246 # Seafloor depth:-659.862460 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 658.022754 meters looking forward 0.000000 meters along route # Maximum depth: 658.022754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 618.022754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858208; longitude = -118.703863; captureRadius = 10; duration = 53; initialDepth = 617.899234; finalDepth = 618.022754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:618.022754 # Seafloor depth:-658.022754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 657.899234 meters looking forward 0.000000 meters along route # Maximum depth: 657.899234 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.899234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857757; longitude = -118.703792; captureRadius = 10; duration = 53; initialDepth = 619.301923; finalDepth = 617.899234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:617.899234 # Seafloor depth:-657.899234 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 659.301923 meters looking forward 0.000000 meters along route # Maximum depth: 659.301923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.301923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857306; longitude = -118.703721; captureRadius = 10; duration = 53; initialDepth = 620.522395; finalDepth = 619.301923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.301923 # Seafloor depth:-659.301923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 660.522395 meters looking forward 0.000000 meters along route # Maximum depth: 660.522395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.522395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856855; longitude = -118.703649; captureRadius = 10; duration = 53; initialDepth = 621.276583; finalDepth = 620.522395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:620.522395 # Seafloor depth:-660.522395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 661.276583 meters looking forward 0.000000 meters along route # Maximum depth: 661.276583 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.276583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856404; longitude = -118.703578; captureRadius = 10; duration = 53; initialDepth = 621.741424; finalDepth = 621.276583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:621.276583 # Seafloor depth:-661.276583 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 661.741424 meters looking forward 0.000000 meters along route # Maximum depth: 661.741424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.741424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855954; longitude = -118.703507; captureRadius = 10; duration = 53; initialDepth = 623.418827; finalDepth = 621.741424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:621.741424 # Seafloor depth:-661.741424 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 663.418827 meters looking forward 0.000000 meters along route # Maximum depth: 663.418827 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.418827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855503; longitude = -118.703435; captureRadius = 10; duration = 53; initialDepth = 628.772457; finalDepth = 623.418827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:623.418827 # Seafloor depth:-663.418827 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 668.772457 meters looking forward 0.000000 meters along route # Maximum depth: 668.772457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.772457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855052; longitude = -118.703364; captureRadius = 10; duration = 53; initialDepth = 635.551203; finalDepth = 628.772457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:628.772457 # Seafloor depth:-668.772457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 675.551203 meters looking forward 0.000000 meters along route # Maximum depth: 675.551203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.551203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854601; longitude = -118.703293; captureRadius = 10; duration = 53; initialDepth = 641.711374; finalDepth = 635.551203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:635.551203 # Seafloor depth:-675.551203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 681.711374 meters looking forward 0.000000 meters along route # Maximum depth: 681.711374 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.711374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854150; longitude = -118.703221; captureRadius = 10; duration = 53; initialDepth = 647.824858; finalDepth = 641.711374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:641.711374 # Seafloor depth:-681.711374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 687.824858 meters looking forward 0.000000 meters along route # Maximum depth: 687.824858 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.824858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853699; longitude = -118.703150; captureRadius = 10; duration = 53; initialDepth = 653.611701; finalDepth = 647.824858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:647.824858 # Seafloor depth:-687.824858 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 693.611701 meters looking forward 0.000000 meters along route # Maximum depth: 693.611701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.611701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853248; longitude = -118.703079; captureRadius = 10; duration = 53; initialDepth = 657.110833; finalDepth = 653.611701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:653.611701 # Seafloor depth:-693.611701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 697.110833 meters looking forward 0.000000 meters along route # Maximum depth: 697.110833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 657.110833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852797; longitude = -118.703007; captureRadius = 10; duration = 53; initialDepth = 656.636467; finalDepth = 657.110833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:657.110833 # Seafloor depth:-697.110833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 696.636467 meters looking forward 0.000000 meters along route # Maximum depth: 696.636467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 656.636467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852346; longitude = -118.702936; captureRadius = 10; duration = 53; initialDepth = 654.779511; finalDepth = 656.636467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:656.636467 # Seafloor depth:-696.636467 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 694.779511 meters looking forward 0.000000 meters along route # Maximum depth: 694.779511 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 654.779511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851895; longitude = -118.702865; captureRadius = 10; duration = 53; initialDepth = 652.561063; finalDepth = 654.779511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:654.779511 # Seafloor depth:-694.779511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 692.561063 meters looking forward 0.000000 meters along route # Maximum depth: 692.561063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 652.561063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851444; longitude = -118.702793; captureRadius = 10; duration = 53; initialDepth = 647.677984; finalDepth = 652.561063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:652.561063 # Seafloor depth:-692.561063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 687.677984 meters looking forward 0.000000 meters along route # Maximum depth: 687.677984 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.677984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850994; longitude = -118.702722; captureRadius = 10; duration = 53; initialDepth = 642.968490; finalDepth = 647.677984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:647.677984 # Seafloor depth:-687.677984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 682.968490 meters looking forward 0.000000 meters along route # Maximum depth: 682.968490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.968490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850543; longitude = -118.702651; captureRadius = 10; duration = 53; initialDepth = 642.445434; finalDepth = 642.968490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:642.96849 # Seafloor depth:-682.968490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 682.445434 meters looking forward 0.000000 meters along route # Maximum depth: 682.445434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.445434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850092; longitude = -118.702579; captureRadius = 10; duration = 53; initialDepth = 644.212207; finalDepth = 642.445434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:642.445434 # Seafloor depth:-682.445434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 53.687574 meters # Minimum depth: 684.212207 meters looking forward 0.000000 meters along route # Maximum depth: 684.212207 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.212207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849641; longitude = -118.702508; captureRadius = 10; duration = 53; initialDepth = 649.329163; finalDepth = 644.212207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:644.212207 # Seafloor depth:-684.212207 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 62 # Segment length 53.687574 meters # Minimum depth: 689.329163 meters looking forward 0.000000 meters along route # Maximum depth: 689.329163 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.329163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849130; longitude = -118.702427; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 645.605174; finalDepth = 649.329163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:649.329163 # Seafloor depth:-689.329163 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 53.687574 meters # Minimum depth: 685.605174 meters looking forward 0.000000 meters along route # Maximum depth: 685.605174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 645.605174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849475; longitude = -118.702247; captureRadius = 10; duration = 53; initialDepth = 643.628391; finalDepth = 645.605174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:645.605174 # Seafloor depth:-685.605174 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 53.687574 meters # Minimum depth: 683.628391 meters looking forward 0.000000 meters along route # Maximum depth: 683.628391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 643.628391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849911; longitude = -118.702020; captureRadius = 10; duration = 53; initialDepth = 644.240456; finalDepth = 643.628391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:643.628391 # Seafloor depth:-683.628391 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 53.687574 meters # Minimum depth: 684.240456 meters looking forward 0.000000 meters along route # Maximum depth: 684.240456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.240456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850362; longitude = -118.701785; captureRadius = 10; duration = 53; initialDepth = 644.282420; finalDepth = 644.240456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:644.240456 # Seafloor depth:-684.240456 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 53.687574 meters # Minimum depth: 684.282420 meters looking forward 0.000000 meters along route # Maximum depth: 684.282420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.282420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850813; longitude = -118.701550; captureRadius = 10; duration = 53; initialDepth = 645.720975; finalDepth = 644.282420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:644.28242 # Seafloor depth:-684.282420 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 53.687574 meters # Minimum depth: 685.720975 meters looking forward 0.000000 meters along route # Maximum depth: 685.720975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 645.720975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851264; longitude = -118.701314; captureRadius = 10; duration = 53; initialDepth = 646.879364; finalDepth = 645.720975; 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:645.720975 # Seafloor depth:-685.720975 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 61 # Segment length 53.687574 meters # Minimum depth: 686.879364 meters looking forward 0.000000 meters along route # Maximum depth: 686.879364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.879364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851685; longitude = -118.701095; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 646.897292; finalDepth = 646.879364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:646.879364 # Seafloor depth:-686.879364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 686.897292 meters looking forward 0.000000 meters along route # Maximum depth: 686.897292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.897292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851715; longitude = -118.701100; captureRadius = 10; duration = 53; initialDepth = 649.138283; finalDepth = 646.897292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:646.897292 # Seafloor depth:-686.897292 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 689.138283 meters looking forward 0.000000 meters along route # Maximum depth: 689.138283 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.138283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852166; longitude = -118.701170; captureRadius = 10; duration = 53; initialDepth = 652.746608; finalDepth = 649.138283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:649.138283 # Seafloor depth:-689.138283 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 692.746608 meters looking forward 0.000000 meters along route # Maximum depth: 692.746608 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 652.746608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852617; longitude = -118.701240; captureRadius = 10; duration = 53; initialDepth = 655.347114; finalDepth = 652.746608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:652.746608 # Seafloor depth:-692.746608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 695.347114 meters looking forward 0.000000 meters along route # Maximum depth: 695.347114 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 655.347114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853068; longitude = -118.701310; captureRadius = 10; duration = 53; initialDepth = 657.765295; finalDepth = 655.347114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:655.347114 # Seafloor depth:-695.347114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 697.765295 meters looking forward 0.000000 meters along route # Maximum depth: 697.765295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 657.765295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853519; longitude = -118.701380; captureRadius = 10; duration = 53; initialDepth = 657.992591; finalDepth = 657.765295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:657.765295 # Seafloor depth:-697.765295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 697.992591 meters looking forward 0.000000 meters along route # Maximum depth: 697.992591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 657.992591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853970; longitude = -118.701450; captureRadius = 10; duration = 53; initialDepth = 657.296037; finalDepth = 657.992591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:657.992591 # Seafloor depth:-697.992591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 697.296037 meters looking forward 0.000000 meters along route # Maximum depth: 697.296037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 657.296037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854420; longitude = -118.701520; captureRadius = 10; duration = 53; initialDepth = 655.982968; finalDepth = 657.296037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:657.296037 # Seafloor depth:-697.296037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 695.982968 meters looking forward 0.000000 meters along route # Maximum depth: 695.982968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 655.982968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854871; longitude = -118.701590; captureRadius = 10; duration = 53; initialDepth = 657.205307; finalDepth = 655.982968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:655.982968 # Seafloor depth:-695.982968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 697.205307 meters looking forward 0.000000 meters along route # Maximum depth: 697.205307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 657.205307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855322; longitude = -118.701660; captureRadius = 10; duration = 53; initialDepth = 657.525751; finalDepth = 657.205307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:657.205307 # Seafloor depth:-697.205307 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 697.525751 meters looking forward 0.000000 meters along route # Maximum depth: 697.525751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 657.525751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855773; longitude = -118.701730; captureRadius = 10; duration = 53; initialDepth = 652.082303; finalDepth = 657.525751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:657.525751 # Seafloor depth:-697.525751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 692.082303 meters looking forward 0.000000 meters along route # Maximum depth: 692.082303 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 652.082303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856224; longitude = -118.701800; captureRadius = 10; duration = 53; initialDepth = 642.385483; finalDepth = 652.082303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:652.082303 # Seafloor depth:-692.082303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 682.385483 meters looking forward 0.000000 meters along route # Maximum depth: 682.385483 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.385483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856675; longitude = -118.701870; captureRadius = 10; duration = 53; initialDepth = 634.380454; finalDepth = 642.385483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:642.385483 # Seafloor depth:-682.385483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 674.380454 meters looking forward 0.000000 meters along route # Maximum depth: 674.380454 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.380454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857126; longitude = -118.701940; captureRadius = 10; duration = 53; initialDepth = 624.556149; finalDepth = 634.380454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:634.380454 # Seafloor depth:-674.380454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 664.556149 meters looking forward 0.000000 meters along route # Maximum depth: 664.556149 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.556149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857577; longitude = -118.702010; captureRadius = 10; duration = 53; initialDepth = 619.035318; finalDepth = 624.556149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:624.556149 # Seafloor depth:-664.556149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 659.035318 meters looking forward 0.000000 meters along route # Maximum depth: 659.035318 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.035318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858028; longitude = -118.702080; captureRadius = 10; duration = 53; initialDepth = 617.068369; finalDepth = 619.035318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.035318 # Seafloor depth:-659.035318 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 657.068369 meters looking forward 0.000000 meters along route # Maximum depth: 657.068369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.068369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858479; longitude = -118.702150; captureRadius = 10; duration = 53; initialDepth = 617.310987; finalDepth = 617.068369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:617.068369 # Seafloor depth:-657.068369 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 657.310987 meters looking forward 0.000000 meters along route # Maximum depth: 657.310987 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.310987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858929; longitude = -118.702220; captureRadius = 10; duration = 53; initialDepth = 620.687444; finalDepth = 617.310987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:617.310987 # Seafloor depth:-657.310987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 660.687444 meters looking forward 0.000000 meters along route # Maximum depth: 660.687444 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.687444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859380; longitude = -118.702290; captureRadius = 10; duration = 53; initialDepth = 621.318558; finalDepth = 620.687444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:620.687444 # Seafloor depth:-660.687444 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 661.318558 meters looking forward 0.000000 meters along route # Maximum depth: 661.318558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.318558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859831; longitude = -118.702360; captureRadius = 10; duration = 53; initialDepth = 622.203127; finalDepth = 621.318558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:621.318558 # Seafloor depth:-661.318558 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 662.203127 meters looking forward 0.000000 meters along route # Maximum depth: 662.203127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.203127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860282; longitude = -118.702430; captureRadius = 10; duration = 53; initialDepth = 622.734095; finalDepth = 622.203127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:622.203127 # Seafloor depth:-662.203127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 662.734095 meters looking forward 0.000000 meters along route # Maximum depth: 662.734095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.734095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860733; longitude = -118.702500; captureRadius = 10; duration = 53; initialDepth = 624.786659; finalDepth = 622.734095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:622.734095 # Seafloor depth:-662.734095 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 664.786659 meters looking forward 0.000000 meters along route # Maximum depth: 664.786659 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.786659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861184; longitude = -118.702570; captureRadius = 10; duration = 53; initialDepth = 627.600408; finalDepth = 624.786659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:624.786659 # Seafloor depth:-664.786659 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 667.600408 meters looking forward 0.000000 meters along route # Maximum depth: 667.600408 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.600408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861635; longitude = -118.702640; captureRadius = 10; duration = 53; initialDepth = 629.095868; finalDepth = 627.600408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:627.600408 # Seafloor depth:-667.600408 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 669.095868 meters looking forward 0.000000 meters along route # Maximum depth: 669.095868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 629.095868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862086; longitude = -118.702710; captureRadius = 10; duration = 53; initialDepth = 628.537859; finalDepth = 629.095868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:629.095868 # Seafloor depth:-669.095868 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 668.537859 meters looking forward 0.000000 meters along route # Maximum depth: 668.537859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.537859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862537; longitude = -118.702780; captureRadius = 10; duration = 53; initialDepth = 628.387473; finalDepth = 628.537859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:628.537859 # Seafloor depth:-668.537859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 668.387473 meters looking forward 0.000000 meters along route # Maximum depth: 668.387473 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.387473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862988; longitude = -118.702850; captureRadius = 10; duration = 53; initialDepth = 627.183495; finalDepth = 628.387473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:628.387473 # Seafloor depth:-668.387473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 667.183495 meters looking forward 0.000000 meters along route # Maximum depth: 667.183495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.183495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863439; longitude = -118.702920; captureRadius = 10; duration = 53; initialDepth = 619.914887; finalDepth = 627.183495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:627.183495 # Seafloor depth:-667.183495 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 659.914887 meters looking forward 0.000000 meters along route # Maximum depth: 659.914887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.914887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863889; longitude = -118.702990; captureRadius = 10; duration = 53; initialDepth = 605.435802; finalDepth = 619.914887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.914887 # Seafloor depth:-659.914887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 645.435802 meters looking forward 0.000000 meters along route # Maximum depth: 645.435802 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.435802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864340; longitude = -118.703060; captureRadius = 10; duration = 53; initialDepth = 594.285294; finalDepth = 605.435802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:605.435802 # Seafloor depth:-645.435802 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 634.285294 meters looking forward 0.000000 meters along route # Maximum depth: 634.285294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.285294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864791; longitude = -118.703130; captureRadius = 10; duration = 53; initialDepth = 587.100354; finalDepth = 594.285294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.285294 # Seafloor depth:-634.285294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 627.100354 meters looking forward 0.000000 meters along route # Maximum depth: 627.100354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.100354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865242; longitude = -118.703200; captureRadius = 10; duration = 53; initialDepth = 581.373268; finalDepth = 587.100354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.100354 # Seafloor depth:-627.100354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 621.373268 meters looking forward 0.000000 meters along route # Maximum depth: 621.373268 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.373268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865693; longitude = -118.703270; captureRadius = 10; duration = 53; initialDepth = 582.198719; finalDepth = 581.373268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.373268 # Seafloor depth:-621.373268 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 622.198719 meters looking forward 0.000000 meters along route # Maximum depth: 622.198719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.198719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866144; longitude = -118.703340; captureRadius = 10; duration = 53; initialDepth = 585.297891; finalDepth = 582.198719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.198719 # Seafloor depth:-622.198719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 625.297891 meters looking forward 0.000000 meters along route # Maximum depth: 625.297891 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.297891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866595; longitude = -118.703410; captureRadius = 10; duration = 53; initialDepth = 588.414900; finalDepth = 585.297891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.297891 # Seafloor depth:-625.297891 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 628.414900 meters looking forward 0.000000 meters along route # Maximum depth: 628.414900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.414900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867046; longitude = -118.703480; captureRadius = 10; duration = 53; initialDepth = 591.599206; finalDepth = 588.414900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.4149 # Seafloor depth:-628.414900 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 631.599206 meters looking forward 0.000000 meters along route # Maximum depth: 631.599206 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.599206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867497; longitude = -118.703549; captureRadius = 10; duration = 53; initialDepth = 594.568185; finalDepth = 591.599206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.599206 # Seafloor depth:-631.599206 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 634.568185 meters looking forward 0.000000 meters along route # Maximum depth: 634.568185 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.568185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867948; longitude = -118.703619; captureRadius = 10; duration = 53; initialDepth = 596.487497; finalDepth = 594.568185; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.568185 # Seafloor depth:-634.568185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 636.487497 meters looking forward 0.000000 meters along route # Maximum depth: 636.487497 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.487497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868398; longitude = -118.703689; captureRadius = 10; duration = 53; initialDepth = 592.757620; finalDepth = 596.487497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:596.487497 # Seafloor depth:-636.487497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 632.757620 meters looking forward 0.000000 meters along route # Maximum depth: 632.757620 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 592.757620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868851; longitude = -118.703760; captureRadius = 10; duration = 53; initialDepth = 580.265590; finalDepth = 592.757620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:592.75762 # Seafloor depth:-632.757620 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 620.265590 meters looking forward 0.000000 meters along route # Maximum depth: 620.265590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.265590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869300; longitude = -118.703829; captureRadius = 10; duration = 53; initialDepth = 563.376444; finalDepth = 580.265590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.26559 # Seafloor depth:-620.265590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 603.376444 meters looking forward 0.000000 meters along route # Maximum depth: 603.376444 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.376444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869751; longitude = -118.703899; captureRadius = 10; duration = 53; initialDepth = 554.762380; finalDepth = 563.376444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:563.376444 # Seafloor depth:-603.376444 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 594.762380 meters looking forward 0.000000 meters along route # Maximum depth: 594.762380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.762380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870202; longitude = -118.703969; captureRadius = 10; duration = 53; initialDepth = 548.786316; finalDepth = 554.762380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.76238 # Seafloor depth:-594.762380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 588.786316 meters looking forward 0.000000 meters along route # Maximum depth: 588.786316 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.786316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870653; longitude = -118.704039; captureRadius = 10; duration = 53; initialDepth = 547.071758; finalDepth = 548.786316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:548.786316 # Seafloor depth:-588.786316 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 587.071758 meters looking forward 0.000000 meters along route # Maximum depth: 587.071758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.071758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871104; longitude = -118.704109; captureRadius = 10; duration = 53; initialDepth = 546.796742; finalDepth = 547.071758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:547.071758 # Seafloor depth:-587.071758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 586.796742 meters looking forward 0.000000 meters along route # Maximum depth: 586.796742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.796742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871555; longitude = -118.704179; captureRadius = 10; duration = 53; initialDepth = 545.685307; finalDepth = 546.796742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:546.796742 # Seafloor depth:-586.796742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 585.685307 meters looking forward 0.000000 meters along route # Maximum depth: 585.685307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.685307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872006; longitude = -118.704249; captureRadius = 10; duration = 53; initialDepth = 543.515907; finalDepth = 545.685307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.685307 # Seafloor depth:-585.685307 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 583.515907 meters looking forward 0.000000 meters along route # Maximum depth: 583.515907 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.515907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872457; longitude = -118.704319; captureRadius = 10; duration = 53; initialDepth = 541.611778; finalDepth = 543.515907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.515907 # Seafloor depth:-583.515907 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 581.611778 meters looking forward 0.000000 meters along route # Maximum depth: 581.611778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.611778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872908; longitude = -118.704389; captureRadius = 10; duration = 53; initialDepth = 537.721507; finalDepth = 541.611778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.611778 # Seafloor depth:-581.611778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 577.721507 meters looking forward 0.000000 meters along route # Maximum depth: 577.721507 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.721507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873358; longitude = -118.704459; captureRadius = 10; duration = 53; initialDepth = 533.565186; finalDepth = 537.721507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.721507 # Seafloor depth:-577.721507 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 573.565186 meters looking forward 0.000000 meters along route # Maximum depth: 573.565186 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.565186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873809; longitude = -118.704529; captureRadius = 10; duration = 53; initialDepth = 529.987921; finalDepth = 533.565186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:533.565186 # Seafloor depth:-573.565186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 569.987921 meters looking forward 0.000000 meters along route # Maximum depth: 569.987921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.987921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874260; longitude = -118.704599; captureRadius = 10; duration = 53; initialDepth = 527.003066; finalDepth = 529.987921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:529.987921 # Seafloor depth:-569.987921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 567.003066 meters looking forward 0.000000 meters along route # Maximum depth: 567.003066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.003066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874711; longitude = -118.704669; captureRadius = 10; duration = 53; initialDepth = 524.492587; finalDepth = 527.003066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:527.003066 # Seafloor depth:-567.003066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 564.492587 meters looking forward 0.000000 meters along route # Maximum depth: 564.492587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 524.492587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875162; longitude = -118.704739; captureRadius = 10; duration = 53; initialDepth = 521.909466; finalDepth = 524.492587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:524.492587 # Seafloor depth:-564.492587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 561.909466 meters looking forward 0.000000 meters along route # Maximum depth: 561.909466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.909466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875613; longitude = -118.704809; captureRadius = 10; duration = 53; initialDepth = 519.996984; finalDepth = 521.909466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:521.909466 # Seafloor depth:-561.909466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 559.996984 meters looking forward 0.000000 meters along route # Maximum depth: 559.996984 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 519.996984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876064; longitude = -118.704879; captureRadius = 10; duration = 53; initialDepth = 520.606259; finalDepth = 519.996984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:519.996984 # Seafloor depth:-559.996984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 560.606259 meters looking forward 0.000000 meters along route # Maximum depth: 560.606259 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.606259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876515; longitude = -118.704949; captureRadius = 10; duration = 53; initialDepth = 523.191733; finalDepth = 520.606259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:520.606259 # Seafloor depth:-560.606259 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 563.191733 meters looking forward 0.000000 meters along route # Maximum depth: 563.191733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.191733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876966; longitude = -118.705019; captureRadius = 10; duration = 53; initialDepth = 525.218957; finalDepth = 523.191733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:523.191733 # Seafloor depth:-563.191733 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 565.218957 meters looking forward 0.000000 meters along route # Maximum depth: 565.218957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.218957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877417; longitude = -118.705089; captureRadius = 10; duration = 53; initialDepth = 524.904234; finalDepth = 525.218957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:525.218957 # Seafloor depth:-565.218957 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 564.904234 meters looking forward 0.000000 meters along route # Maximum depth: 564.904234 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 524.904234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877868; longitude = -118.705159; captureRadius = 10; duration = 53; initialDepth = 521.792474; finalDepth = 524.904234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:524.904234 # Seafloor depth:-564.904234 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 561.792474 meters looking forward 0.000000 meters along route # Maximum depth: 561.792474 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.792474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878318; longitude = -118.705229; captureRadius = 10; duration = 53; initialDepth = 518.170066; finalDepth = 521.792474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:521.792474 # Seafloor depth:-561.792474 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 558.170066 meters looking forward 0.000000 meters along route # Maximum depth: 558.170066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.170066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878769; longitude = -118.705299; captureRadius = 10; duration = 53; initialDepth = 513.566408; finalDepth = 518.170066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.170066 # Seafloor depth:-558.170066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 553.566408 meters looking forward 0.000000 meters along route # Maximum depth: 553.566408 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.566408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879220; longitude = -118.705369; captureRadius = 10; duration = 53; initialDepth = 509.697213; finalDepth = 513.566408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.566408 # Seafloor depth:-553.566408 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 549.697213 meters looking forward 0.000000 meters along route # Maximum depth: 549.697213 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.697213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879671; longitude = -118.705439; captureRadius = 10; duration = 53; initialDepth = 506.793375; finalDepth = 509.697213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:509.697213 # Seafloor depth:-549.697213 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 546.793375 meters looking forward 0.000000 meters along route # Maximum depth: 546.793375 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.793375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880122; longitude = -118.705509; captureRadius = 10; duration = 53; initialDepth = 503.094544; finalDepth = 506.793375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.793375 # Seafloor depth:-546.793375 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 543.094544 meters looking forward 0.000000 meters along route # Maximum depth: 543.094544 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.094544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880573; longitude = -118.705579; captureRadius = 10; duration = 53; initialDepth = 501.310529; finalDepth = 503.094544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.094544 # Seafloor depth:-543.094544 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 541.310529 meters looking forward 0.000000 meters along route # Maximum depth: 541.310529 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.310529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881024; longitude = -118.705649; captureRadius = 10; duration = 53; initialDepth = 499.712920; finalDepth = 501.310529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:501.310529 # Seafloor depth:-541.310529 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 539.712920 meters looking forward 0.000000 meters along route # Maximum depth: 539.712920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.712920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881475; longitude = -118.705719; captureRadius = 10; duration = 53; initialDepth = 498.699715; finalDepth = 499.712920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.71292 # Seafloor depth:-539.712920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 538.699715 meters looking forward 0.000000 meters along route # Maximum depth: 538.699715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.699715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881926; longitude = -118.705789; captureRadius = 10; duration = 53; initialDepth = 499.439801; finalDepth = 498.699715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.699715 # Seafloor depth:-538.699715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 539.439801 meters looking forward 0.000000 meters along route # Maximum depth: 539.439801 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.439801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882377; longitude = -118.705859; captureRadius = 10; duration = 53; initialDepth = 502.538408; finalDepth = 499.439801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.439801 # Seafloor depth:-539.439801 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 542.538408 meters looking forward 0.000000 meters along route # Maximum depth: 542.538408 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.538408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882827; longitude = -118.705929; captureRadius = 10; duration = 53; initialDepth = 505.592607; finalDepth = 502.538408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:502.538408 # Seafloor depth:-542.538408 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 545.592607 meters looking forward 0.000000 meters along route # Maximum depth: 545.592607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.592607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883278; longitude = -118.705999; captureRadius = 10; duration = 53; initialDepth = 504.047541; finalDepth = 505.592607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.592607 # Seafloor depth:-545.592607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 544.047541 meters looking forward 0.000000 meters along route # Maximum depth: 544.047541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.047541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883729; longitude = -118.706069; captureRadius = 10; duration = 53; initialDepth = 498.528476; finalDepth = 504.047541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.047541 # Seafloor depth:-544.047541 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 538.528476 meters looking forward 0.000000 meters along route # Maximum depth: 538.528476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.528476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884180; longitude = -118.706139; captureRadius = 10; duration = 53; initialDepth = 494.454345; finalDepth = 498.528476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.528476 # Seafloor depth:-538.528476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 534.454345 meters looking forward 0.000000 meters along route # Maximum depth: 534.454345 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.454345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884631; longitude = -118.706209; captureRadius = 10; duration = 53; initialDepth = 492.839445; finalDepth = 494.454345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:494.454345 # Seafloor depth:-534.454345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 532.839445 meters looking forward 0.000000 meters along route # Maximum depth: 532.839445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 492.839445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885082; longitude = -118.706279; captureRadius = 10; duration = 53; initialDepth = 490.535765; finalDepth = 492.839445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:492.839445 # Seafloor depth:-532.839445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 53.687574 meters # Minimum depth: 530.535765 meters looking forward 0.000000 meters along route # Maximum depth: 530.535765 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.535765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885552; longitude = -118.706352; captureRadius = 10; duration = 53; initialDepth = 489.585327; finalDepth = 490.535765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:490.535765 # Seafloor depth:-530.535765 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 60 # Segment length 53.687574 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: 700.000000 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 = 53; # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 59 # Segment length 53.687574 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: 700.000000 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 = 53; # abortOnTimeout = True; initialDepth = 492.924148; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 532.924148 meters looking forward 0.000000 meters along route # Maximum depth: 532.924148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 492.924148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885713; longitude = -118.704595; captureRadius = 10; duration = 53; initialDepth = 495.810336; finalDepth = 492.924148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:492.924148 # Seafloor depth:-532.924148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 535.810336 meters looking forward 0.000000 meters along route # Maximum depth: 535.810336 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.810336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885262; longitude = -118.704525; captureRadius = 10; duration = 53; initialDepth = 497.538222; finalDepth = 495.810336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:495.810336 # Seafloor depth:-535.810336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 537.538222 meters looking forward 0.000000 meters along route # Maximum depth: 537.538222 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 497.538222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884811; longitude = -118.704455; captureRadius = 10; duration = 53; initialDepth = 498.328963; finalDepth = 497.538222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:497.538222 # Seafloor depth:-537.538222 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 538.328963 meters looking forward 0.000000 meters along route # Maximum depth: 538.328963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.328963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884361; longitude = -118.704385; captureRadius = 10; duration = 53; initialDepth = 500.306573; finalDepth = 498.328963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.328963 # Seafloor depth:-538.328963 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 540.306573 meters looking forward 0.000000 meters along route # Maximum depth: 540.306573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.306573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883910; longitude = -118.704315; captureRadius = 10; duration = 53; initialDepth = 501.302560; finalDepth = 500.306573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.306573 # Seafloor depth:-540.306573 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 541.302560 meters looking forward 0.000000 meters along route # Maximum depth: 541.302560 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.302560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883459; longitude = -118.704244; captureRadius = 10; duration = 53; initialDepth = 501.088364; finalDepth = 501.302560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:501.30256 # Seafloor depth:-541.302560 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 541.088364 meters looking forward 0.000000 meters along route # Maximum depth: 541.088364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.088364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883008; longitude = -118.704174; captureRadius = 10; duration = 53; initialDepth = 499.932467; finalDepth = 501.088364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:501.088364 # Seafloor depth:-541.088364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 539.932467 meters looking forward 0.000000 meters along route # Maximum depth: 539.932467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.932467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882557; longitude = -118.704104; captureRadius = 10; duration = 53; initialDepth = 498.308448; finalDepth = 499.932467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.932467 # Seafloor depth:-539.932467 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 538.308448 meters looking forward 0.000000 meters along route # Maximum depth: 538.308448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.308448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882106; longitude = -118.704034; captureRadius = 10; duration = 53; initialDepth = 497.974282; finalDepth = 498.308448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.308448 # Seafloor depth:-538.308448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 537.974282 meters looking forward 0.000000 meters along route # Maximum depth: 537.974282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 497.974282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881655; longitude = -118.703964; captureRadius = 10; duration = 53; initialDepth = 498.470106; finalDepth = 497.974282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:497.974282 # Seafloor depth:-537.974282 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 538.470106 meters looking forward 0.000000 meters along route # Maximum depth: 538.470106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.470106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881204; longitude = -118.703894; captureRadius = 10; duration = 53; initialDepth = 499.957214; finalDepth = 498.470106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.470106 # Seafloor depth:-538.470106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 539.957214 meters looking forward 0.000000 meters along route # Maximum depth: 539.957214 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.957214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880753; longitude = -118.703824; captureRadius = 10; duration = 53; initialDepth = 502.106167; finalDepth = 499.957214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.957214 # Seafloor depth:-539.957214 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 542.106167 meters looking forward 0.000000 meters along route # Maximum depth: 542.106167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.106167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880302; longitude = -118.703754; captureRadius = 10; duration = 53; initialDepth = 507.033985; finalDepth = 502.106167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:502.106167 # Seafloor depth:-542.106167 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 547.033985 meters looking forward 0.000000 meters along route # Maximum depth: 547.033985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.033985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879851; longitude = -118.703684; captureRadius = 10; duration = 53; initialDepth = 510.530307; finalDepth = 507.033985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:507.033985 # Seafloor depth:-547.033985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 550.530307 meters looking forward 0.000000 meters along route # Maximum depth: 550.530307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.530307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879401; longitude = -118.703614; captureRadius = 10; duration = 53; initialDepth = 514.930849; finalDepth = 510.530307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:510.530307 # Seafloor depth:-550.530307 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 554.930849 meters looking forward 0.000000 meters along route # Maximum depth: 554.930849 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.930849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878946; longitude = -118.703544; captureRadius = 10; duration = 53; initialDepth = 518.804974; finalDepth = 514.930849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:514.930849 # Seafloor depth:-554.930849 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 558.804974 meters looking forward 0.000000 meters along route # Maximum depth: 558.804974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.804974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878499; longitude = -118.703474; captureRadius = 10; duration = 53; initialDepth = 520.320665; finalDepth = 518.804974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.804974 # Seafloor depth:-558.804974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 560.320665 meters looking forward 0.000000 meters along route # Maximum depth: 560.320665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.320665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878048; longitude = -118.703404; captureRadius = 10; duration = 53; initialDepth = 521.056930; finalDepth = 520.320665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:520.320665 # Seafloor depth:-560.320665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 561.056930 meters looking forward 0.000000 meters along route # Maximum depth: 561.056930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.056930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877597; longitude = -118.703334; captureRadius = 10; duration = 53; initialDepth = 520.257820; finalDepth = 521.056930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:521.05693 # Seafloor depth:-561.056930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 560.257820 meters looking forward 0.000000 meters along route # Maximum depth: 560.257820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.257820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877146; longitude = -118.703264; captureRadius = 10; duration = 53; initialDepth = 519.230318; finalDepth = 520.257820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:520.25782 # Seafloor depth:-560.257820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 559.230318 meters looking forward 0.000000 meters along route # Maximum depth: 559.230318 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 519.230318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876695; longitude = -118.703194; captureRadius = 10; duration = 53; initialDepth = 519.276481; finalDepth = 519.230318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:519.230318 # Seafloor depth:-559.230318 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 559.276481 meters looking forward 0.000000 meters along route # Maximum depth: 559.276481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 519.276481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876244; longitude = -118.703124; captureRadius = 10; duration = 53; initialDepth = 523.239531; finalDepth = 519.276481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:519.276481 # Seafloor depth:-559.276481 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 563.239531 meters looking forward 0.000000 meters along route # Maximum depth: 563.239531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.239531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875793; longitude = -118.703054; captureRadius = 10; duration = 53; initialDepth = 526.744764; finalDepth = 523.239531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:523.239531 # Seafloor depth:-563.239531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 566.744764 meters looking forward 0.000000 meters along route # Maximum depth: 566.744764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 526.744764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875342; longitude = -118.702984; captureRadius = 10; duration = 53; initialDepth = 529.429907; finalDepth = 526.744764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:526.744764 # Seafloor depth:-566.744764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 569.429907 meters looking forward 0.000000 meters along route # Maximum depth: 569.429907 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.429907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874892; longitude = -118.702914; captureRadius = 10; duration = 53; initialDepth = 533.464615; finalDepth = 529.429907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:529.429907 # Seafloor depth:-569.429907 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 573.464615 meters looking forward 0.000000 meters along route # Maximum depth: 573.464615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.464615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874441; longitude = -118.702844; captureRadius = 10; duration = 53; initialDepth = 536.081994; finalDepth = 533.464615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:533.464615 # Seafloor depth:-573.464615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 576.081994 meters looking forward 0.000000 meters along route # Maximum depth: 576.081994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.081994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873990; longitude = -118.702774; captureRadius = 10; duration = 53; initialDepth = 538.356650; finalDepth = 536.081994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.081994 # Seafloor depth:-576.081994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 578.356650 meters looking forward 0.000000 meters along route # Maximum depth: 578.356650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.356650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873539; longitude = -118.702704; captureRadius = 10; duration = 53; initialDepth = 539.684443; finalDepth = 538.356650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.35665 # Seafloor depth:-578.356650 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 579.684443 meters looking forward 0.000000 meters along route # Maximum depth: 579.684443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.684443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873088; longitude = -118.702634; captureRadius = 10; duration = 53; initialDepth = 540.436209; finalDepth = 539.684443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.684443 # Seafloor depth:-579.684443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 580.436209 meters looking forward 0.000000 meters along route # Maximum depth: 580.436209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.436209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872637; longitude = -118.702564; captureRadius = 10; duration = 53; initialDepth = 541.039248; finalDepth = 540.436209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.436209 # Seafloor depth:-580.436209 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 581.039248 meters looking forward 0.000000 meters along route # Maximum depth: 581.039248 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.039248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872186; longitude = -118.702494; captureRadius = 10; duration = 53; initialDepth = 541.762237; finalDepth = 541.039248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.039248 # Seafloor depth:-581.039248 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 581.762237 meters looking forward 0.000000 meters along route # Maximum depth: 581.762237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.762237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871735; longitude = -118.702424; captureRadius = 10; duration = 53; initialDepth = 545.715577; finalDepth = 541.762237; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:541.762237 # Seafloor depth:-581.762237 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 585.715577 meters looking forward 0.000000 meters along route # Maximum depth: 585.715577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.715577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871284; longitude = -118.702354; captureRadius = 10; duration = 53; initialDepth = 550.406653; finalDepth = 545.715577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:545.715577 # Seafloor depth:-585.715577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 590.406653 meters looking forward 0.000000 meters along route # Maximum depth: 590.406653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.406653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870833; longitude = -118.702284; captureRadius = 10; duration = 53; initialDepth = 555.207489; finalDepth = 550.406653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:550.406653 # Seafloor depth:-590.406653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 595.207489 meters looking forward 0.000000 meters along route # Maximum depth: 595.207489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.207489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870382; longitude = -118.702214; captureRadius = 10; duration = 53; initialDepth = 559.738786; finalDepth = 555.207489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:555.207489 # Seafloor depth:-595.207489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 599.738786 meters looking forward 0.000000 meters along route # Maximum depth: 599.738786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.738786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869932; longitude = -118.702144; captureRadius = 10; duration = 53; initialDepth = 565.271804; finalDepth = 559.738786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:559.738786 # Seafloor depth:-599.738786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 605.271804 meters looking forward 0.000000 meters along route # Maximum depth: 605.271804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.271804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869481; longitude = -118.702074; captureRadius = 10; duration = 53; initialDepth = 575.818434; finalDepth = 565.271804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.271804 # Seafloor depth:-605.271804 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 615.818434 meters looking forward 0.000000 meters along route # Maximum depth: 615.818434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.818434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869030; longitude = -118.702004; captureRadius = 10; duration = 53; initialDepth = 585.654751; finalDepth = 575.818434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.818434 # Seafloor depth:-615.818434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 625.654751 meters looking forward 0.000000 meters along route # Maximum depth: 625.654751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.654751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868579; longitude = -118.701933; captureRadius = 10; duration = 53; initialDepth = 588.837085; finalDepth = 585.654751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.654751 # Seafloor depth:-625.654751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 628.837085 meters looking forward 0.000000 meters along route # Maximum depth: 628.837085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.837085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868128; longitude = -118.701863; captureRadius = 10; duration = 53; initialDepth = 589.949639; finalDepth = 588.837085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:588.837085 # Seafloor depth:-628.837085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 629.949639 meters looking forward 0.000000 meters along route # Maximum depth: 629.949639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.949639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867677; longitude = -118.701793; captureRadius = 10; duration = 53; initialDepth = 590.251188; finalDepth = 589.949639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.949639 # Seafloor depth:-629.949639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 630.251188 meters looking forward 0.000000 meters along route # Maximum depth: 630.251188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.251188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867226; longitude = -118.701723; captureRadius = 10; duration = 53; initialDepth = 590.179366; finalDepth = 590.251188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.251188 # Seafloor depth:-630.251188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 630.179366 meters looking forward 0.000000 meters along route # Maximum depth: 630.179366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.179366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866775; longitude = -118.701653; captureRadius = 10; duration = 53; initialDepth = 589.344193; finalDepth = 590.179366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.179366 # Seafloor depth:-630.179366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 629.344193 meters looking forward 0.000000 meters along route # Maximum depth: 629.344193 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.344193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866324; longitude = -118.701583; captureRadius = 10; duration = 53; initialDepth = 590.628783; finalDepth = 589.344193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.344193 # Seafloor depth:-629.344193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 630.628783 meters looking forward 0.000000 meters along route # Maximum depth: 630.628783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.628783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865873; longitude = -118.701513; captureRadius = 10; duration = 53; initialDepth = 589.081003; finalDepth = 590.628783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:590.628783 # Seafloor depth:-630.628783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 629.081003 meters looking forward 0.000000 meters along route # Maximum depth: 629.081003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.081003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865423; longitude = -118.701443; captureRadius = 10; duration = 53; initialDepth = 589.881803; finalDepth = 589.081003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.081003 # Seafloor depth:-629.081003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 629.881803 meters looking forward 0.000000 meters along route # Maximum depth: 629.881803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.881803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864972; longitude = -118.701373; captureRadius = 10; duration = 53; initialDepth = 594.645722; finalDepth = 589.881803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.881803 # Seafloor depth:-629.881803 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 634.645722 meters looking forward 0.000000 meters along route # Maximum depth: 634.645722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.645722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864521; longitude = -118.701303; captureRadius = 10; duration = 53; initialDepth = 600.865919; finalDepth = 594.645722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.645722 # Seafloor depth:-634.645722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 640.865919 meters looking forward 0.000000 meters along route # Maximum depth: 640.865919 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.865919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864070; longitude = -118.701233; captureRadius = 10; duration = 53; initialDepth = 607.598091; finalDepth = 600.865919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.865919 # Seafloor depth:-640.865919 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 647.598091 meters looking forward 0.000000 meters along route # Maximum depth: 647.598091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.598091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863619; longitude = -118.701163; captureRadius = 10; duration = 53; initialDepth = 613.594664; finalDepth = 607.598091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:607.598091 # Seafloor depth:-647.598091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 653.594664 meters looking forward 0.000000 meters along route # Maximum depth: 653.594664 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 613.594664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863168; longitude = -118.701093; captureRadius = 10; duration = 53; initialDepth = 620.302150; finalDepth = 613.594664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:613.594664 # Seafloor depth:-653.594664 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 660.302150 meters looking forward 0.000000 meters along route # Maximum depth: 660.302150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.302150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862717; longitude = -118.701023; captureRadius = 10; duration = 53; initialDepth = 625.338318; finalDepth = 620.302150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:620.30215 # Seafloor depth:-660.302150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 665.338318 meters looking forward 0.000000 meters along route # Maximum depth: 665.338318 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 625.338318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862266; longitude = -118.700953; captureRadius = 10; duration = 53; initialDepth = 627.371739; finalDepth = 625.338318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:625.338318 # Seafloor depth:-665.338318 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 667.371739 meters looking forward 0.000000 meters along route # Maximum depth: 667.371739 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.371739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861815; longitude = -118.700883; captureRadius = 10; duration = 53; initialDepth = 624.945017; finalDepth = 627.371739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:627.371739 # Seafloor depth:-667.371739 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 664.945017 meters looking forward 0.000000 meters along route # Maximum depth: 664.945017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.945017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861364; longitude = -118.700813; captureRadius = 10; duration = 53; initialDepth = 620.270420; finalDepth = 624.945017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:624.945017 # Seafloor depth:-664.945017 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 660.270420 meters looking forward 0.000000 meters along route # Maximum depth: 660.270420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.270420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860913; longitude = -118.700743; captureRadius = 10; duration = 53; initialDepth = 615.327311; finalDepth = 620.270420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:620.27042 # Seafloor depth:-660.270420 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 655.327311 meters looking forward 0.000000 meters along route # Maximum depth: 655.327311 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 615.327311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860463; longitude = -118.700673; captureRadius = 10; duration = 53; initialDepth = 610.173936; finalDepth = 615.327311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:615.327311 # Seafloor depth:-655.327311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 650.173936 meters looking forward 0.000000 meters along route # Maximum depth: 650.173936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.173936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860012; longitude = -118.700603; captureRadius = 10; duration = 53; initialDepth = 611.048992; finalDepth = 610.173936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:610.173936 # Seafloor depth:-650.173936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 651.048992 meters looking forward 0.000000 meters along route # Maximum depth: 651.048992 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.048992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859561; longitude = -118.700533; captureRadius = 10; duration = 53; initialDepth = 612.951002; finalDepth = 611.048992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:611.048992 # Seafloor depth:-651.048992 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 652.951002 meters looking forward 0.000000 meters along route # Maximum depth: 652.951002 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.951002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859110; longitude = -118.700463; captureRadius = 10; duration = 53; initialDepth = 615.216384; finalDepth = 612.951002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:612.951002 # Seafloor depth:-652.951002 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 655.216384 meters looking forward 0.000000 meters along route # Maximum depth: 655.216384 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 615.216384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858659; longitude = -118.700393; captureRadius = 10; duration = 53; initialDepth = 619.159923; finalDepth = 615.216384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:615.216384 # Seafloor depth:-655.216384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 659.159923 meters looking forward 0.000000 meters along route # Maximum depth: 659.159923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.159923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858208; longitude = -118.700323; captureRadius = 10; duration = 53; initialDepth = 625.223939; finalDepth = 619.159923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:619.159923 # Seafloor depth:-659.159923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 665.223939 meters looking forward 0.000000 meters along route # Maximum depth: 665.223939 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 625.223939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857757; longitude = -118.700253; captureRadius = 10; duration = 53; initialDepth = 632.914336; finalDepth = 625.223939; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:625.223939 # Seafloor depth:-665.223939 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 672.914336 meters looking forward 0.000000 meters along route # Maximum depth: 672.914336 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 632.914336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857306; longitude = -118.700183; captureRadius = 10; duration = 53; initialDepth = 641.644255; finalDepth = 632.914336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:632.914336 # Seafloor depth:-672.914336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 681.644255 meters looking forward 0.000000 meters along route # Maximum depth: 681.644255 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.644255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856855; longitude = -118.700113; captureRadius = 10; duration = 53; initialDepth = 647.948322; finalDepth = 641.644255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:641.644255 # Seafloor depth:-681.644255 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 687.948322 meters looking forward 0.000000 meters along route # Maximum depth: 687.948322 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.948322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856404; longitude = -118.700043; captureRadius = 10; duration = 53; initialDepth = 649.358748; finalDepth = 647.948322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:647.948322 # Seafloor depth:-687.948322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 689.358748 meters looking forward 0.000000 meters along route # Maximum depth: 689.358748 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.358748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855954; longitude = -118.699973; captureRadius = 10; duration = 53; initialDepth = 649.816667; finalDepth = 649.358748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:649.358748 # Seafloor depth:-689.358748 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 689.816667 meters looking forward 0.000000 meters along route # Maximum depth: 689.816667 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.816667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855503; longitude = -118.699903; captureRadius = 10; duration = 53; initialDepth = 650.738120; finalDepth = 649.816667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:649.816667 # Seafloor depth:-689.816667 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 690.738120 meters looking forward 0.000000 meters along route # Maximum depth: 690.738120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 650.738120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855052; longitude = -118.699833; captureRadius = 10; duration = 53; initialDepth = 652.686185; finalDepth = 650.738120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:650.73812 # Seafloor depth:-690.738120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 692.686185 meters looking forward 0.000000 meters along route # Maximum depth: 692.686185 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 652.686185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854601; longitude = -118.699763; captureRadius = 10; duration = 53; initialDepth = 653.150602; finalDepth = 652.686185; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:652.686185 # Seafloor depth:-692.686185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 693.150602 meters looking forward 0.000000 meters along route # Maximum depth: 693.150602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.150602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854150; longitude = -118.699692; captureRadius = 10; duration = 53; initialDepth = 652.525215; finalDepth = 653.150602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:653.150602 # Seafloor depth:-693.150602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 692.525215 meters looking forward 0.000000 meters along route # Maximum depth: 692.525215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 652.525215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853699; longitude = -118.699622; captureRadius = 10; duration = 53; initialDepth = 649.389126; finalDepth = 652.525215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:652.525215 # Seafloor depth:-692.525215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 689.389126 meters looking forward 0.000000 meters along route # Maximum depth: 689.389126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.389126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853248; longitude = -118.699552; captureRadius = 10; duration = 53; initialDepth = 647.929060; finalDepth = 649.389126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:649.389126 # Seafloor depth:-689.389126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 53.687574 meters # Minimum depth: 687.929060 meters looking forward 0.000000 meters along route # Maximum depth: 687.929060 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.929060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852797; longitude = -118.699482; captureRadius = 10; duration = 53; initialDepth = 649.893005; finalDepth = 647.929060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:647.92906 # Seafloor depth:-687.929060 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 58 # Segment length 53.687574 meters # Minimum depth: 689.893005 meters looking forward 0.000000 meters along route # Maximum depth: 689.893005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.893005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852286; longitude = -118.699403; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 649.962440; finalDepth = 649.893005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:649.893005 # Seafloor depth:-689.893005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 53.687574 meters # Minimum depth: 689.962440 meters looking forward 0.000000 meters along route # Maximum depth: 689.962440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.962440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852346; longitude = -118.699296; captureRadius = 10; duration = 53; initialDepth = 650.136168; finalDepth = 649.962440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:649.96244 # Seafloor depth:-689.962440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 53.687574 meters # Minimum depth: 690.136168 meters looking forward 0.000000 meters along route # Maximum depth: 690.136168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 650.136168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852631; longitude = -118.698790; captureRadius = 10; duration = 53; initialDepth = 649.079004; finalDepth = 650.136168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:650.136168 # Seafloor depth:-690.136168 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 53.687574 meters # Minimum depth: 689.079004 meters looking forward 0.000000 meters along route # Maximum depth: 689.079004 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.079004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852934; longitude = -118.698250; captureRadius = 10; duration = 53; initialDepth = 650.092041; finalDepth = 649.079004; 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:649.079004 # Seafloor depth:-689.079004 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 57 # Segment length 53.687574 meters # Minimum depth: 690.092041 meters looking forward 0.000000 meters along route # Maximum depth: 690.092041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 650.092041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853218; longitude = -118.697746; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 649.777651; finalDepth = 650.092041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:650.092041 # Seafloor depth:-690.092041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 689.777651 meters looking forward 0.000000 meters along route # Maximum depth: 689.777651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.777651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853428; longitude = -118.697778; captureRadius = 10; duration = 53; initialDepth = 647.229970; finalDepth = 649.777651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:649.777651 # Seafloor depth:-689.777651 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 687.229970 meters looking forward 0.000000 meters along route # Maximum depth: 687.229970 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.229970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853879; longitude = -118.697848; captureRadius = 10; duration = 53; initialDepth = 646.872131; finalDepth = 647.229970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:647.22997 # Seafloor depth:-687.229970 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 686.872131 meters looking forward 0.000000 meters along route # Maximum depth: 686.872131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.872131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854330; longitude = -118.697918; captureRadius = 10; duration = 53; initialDepth = 643.310638; finalDepth = 646.872131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:646.872131 # Seafloor depth:-686.872131 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 683.310638 meters looking forward 0.000000 meters along route # Maximum depth: 683.310638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 643.310638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854781; longitude = -118.697987; captureRadius = 10; duration = 53; initialDepth = 638.484131; finalDepth = 643.310638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:643.310638 # Seafloor depth:-683.310638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 678.484131 meters looking forward 0.000000 meters along route # Maximum depth: 678.484131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 638.484131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855232; longitude = -118.698057; captureRadius = 10; duration = 53; initialDepth = 633.016355; finalDepth = 638.484131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:638.484131 # Seafloor depth:-678.484131 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 673.016355 meters looking forward 0.000000 meters along route # Maximum depth: 673.016355 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 633.016355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855683; longitude = -118.698126; captureRadius = 10; duration = 53; initialDepth = 627.369797; finalDepth = 633.016355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:633.016355 # Seafloor depth:-673.016355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 667.369797 meters looking forward 0.000000 meters along route # Maximum depth: 667.369797 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.369797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856134; longitude = -118.698196; captureRadius = 10; duration = 53; initialDepth = 621.603825; finalDepth = 627.369797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:627.369797 # Seafloor depth:-667.369797 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 661.603825 meters looking forward 0.000000 meters along route # Maximum depth: 661.603825 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.603825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856585; longitude = -118.698265; captureRadius = 10; duration = 53; initialDepth = 614.433490; finalDepth = 621.603825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:621.603825 # Seafloor depth:-661.603825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 654.433490 meters looking forward 0.000000 meters along route # Maximum depth: 654.433490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 614.433490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857036; longitude = -118.698335; captureRadius = 10; duration = 53; initialDepth = 608.103559; finalDepth = 614.433490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:614.43349 # Seafloor depth:-654.433490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 648.103559 meters looking forward 0.000000 meters along route # Maximum depth: 648.103559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.103559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857487; longitude = -118.698404; captureRadius = 10; duration = 53; initialDepth = 603.012309; finalDepth = 608.103559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.103559 # Seafloor depth:-648.103559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 643.012309 meters looking forward 0.000000 meters along route # Maximum depth: 643.012309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.012309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857937; longitude = -118.698474; captureRadius = 10; duration = 53; initialDepth = 600.135355; finalDepth = 603.012309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:603.012309 # Seafloor depth:-643.012309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 640.135355 meters looking forward 0.000000 meters along route # Maximum depth: 640.135355 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.135355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858388; longitude = -118.698543; captureRadius = 10; duration = 53; initialDepth = 598.683319; finalDepth = 600.135355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.135355 # Seafloor depth:-640.135355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 638.683319 meters looking forward 0.000000 meters along route # Maximum depth: 638.683319 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 598.683319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858839; longitude = -118.698613; captureRadius = 10; duration = 53; initialDepth = 595.659607; finalDepth = 598.683319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:598.683319 # Seafloor depth:-638.683319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 635.659607 meters looking forward 0.000000 meters along route # Maximum depth: 635.659607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.659607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859291; longitude = -118.698682; captureRadius = 10; duration = 53; initialDepth = 591.975075; finalDepth = 595.659607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:595.659607 # Seafloor depth:-635.659607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 631.975075 meters looking forward 0.000000 meters along route # Maximum depth: 631.975075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.975075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859741; longitude = -118.698752; captureRadius = 10; duration = 53; initialDepth = 589.214289; finalDepth = 591.975075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.975075 # Seafloor depth:-631.975075 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 629.214289 meters looking forward 0.000000 meters along route # Maximum depth: 629.214289 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.214289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860192; longitude = -118.698821; captureRadius = 10; duration = 53; initialDepth = 586.592028; finalDepth = 589.214289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:589.214289 # Seafloor depth:-629.214289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 626.592028 meters looking forward 0.000000 meters along route # Maximum depth: 626.592028 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.592028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860643; longitude = -118.698891; captureRadius = 10; duration = 53; initialDepth = 587.060066; finalDepth = 586.592028; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.592028 # Seafloor depth:-626.592028 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 627.060066 meters looking forward 0.000000 meters along route # Maximum depth: 627.060066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.060066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861094; longitude = -118.698960; captureRadius = 10; duration = 53; initialDepth = 587.446273; finalDepth = 587.060066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.060066 # Seafloor depth:-627.060066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 627.446273 meters looking forward 0.000000 meters along route # Maximum depth: 627.446273 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 587.446273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861545; longitude = -118.699030; captureRadius = 10; duration = 53; initialDepth = 586.979454; finalDepth = 587.446273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:587.446273 # Seafloor depth:-627.446273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 626.979454 meters looking forward 0.000000 meters along route # Maximum depth: 626.979454 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.979454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861996; longitude = -118.699100; captureRadius = 10; duration = 53; initialDepth = 586.380816; finalDepth = 586.979454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.979454 # Seafloor depth:-626.979454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 626.380816 meters looking forward 0.000000 meters along route # Maximum depth: 626.380816 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.380816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862447; longitude = -118.699169; captureRadius = 10; duration = 53; initialDepth = 586.280108; finalDepth = 586.380816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.380816 # Seafloor depth:-626.380816 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 626.280108 meters looking forward 0.000000 meters along route # Maximum depth: 626.280108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.280108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862897; longitude = -118.699239; captureRadius = 10; duration = 53; initialDepth = 586.044779; finalDepth = 586.280108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.280108 # Seafloor depth:-626.280108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 626.044779 meters looking forward 0.000000 meters along route # Maximum depth: 626.044779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.044779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863348; longitude = -118.699308; captureRadius = 10; duration = 53; initialDepth = 584.713077; finalDepth = 586.044779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.044779 # Seafloor depth:-626.044779 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 624.713077 meters looking forward 0.000000 meters along route # Maximum depth: 624.713077 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.713077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863799; longitude = -118.699378; captureRadius = 10; duration = 53; initialDepth = 582.433637; finalDepth = 584.713077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.713077 # Seafloor depth:-624.713077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 622.433637 meters looking forward 0.000000 meters along route # Maximum depth: 622.433637 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.433637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864250; longitude = -118.699447; captureRadius = 10; duration = 53; initialDepth = 583.042961; finalDepth = 582.433637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.433637 # Seafloor depth:-622.433637 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 623.042961 meters looking forward 0.000000 meters along route # Maximum depth: 623.042961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.042961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864701; longitude = -118.699517; captureRadius = 10; duration = 53; initialDepth = 582.782716; finalDepth = 583.042961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:583.042961 # Seafloor depth:-623.042961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 622.782716 meters looking forward 0.000000 meters along route # Maximum depth: 622.782716 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.782716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865152; longitude = -118.699586; captureRadius = 10; duration = 53; initialDepth = 581.100558; finalDepth = 582.782716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.782716 # Seafloor depth:-622.782716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 621.100558 meters looking forward 0.000000 meters along route # Maximum depth: 621.100558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.100558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865603; longitude = -118.699656; captureRadius = 10; duration = 53; initialDepth = 579.318090; finalDepth = 581.100558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:581.100558 # Seafloor depth:-621.100558 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 619.318090 meters looking forward 0.000000 meters along route # Maximum depth: 619.318090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.318090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866054; longitude = -118.699725; captureRadius = 10; duration = 53; initialDepth = 578.525365; finalDepth = 579.318090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.31809 # Seafloor depth:-619.318090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 618.525365 meters looking forward 0.000000 meters along route # Maximum depth: 618.525365 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.525365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866505; longitude = -118.699795; captureRadius = 10; duration = 53; initialDepth = 577.051448; finalDepth = 578.525365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.525365 # Seafloor depth:-618.525365 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 617.051448 meters looking forward 0.000000 meters along route # Maximum depth: 617.051448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.051448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866956; longitude = -118.699864; captureRadius = 10; duration = 53; initialDepth = 574.760232; finalDepth = 577.051448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:577.051448 # Seafloor depth:-617.051448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 614.760232 meters looking forward 0.000000 meters along route # Maximum depth: 614.760232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.760232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867406; longitude = -118.699934; captureRadius = 10; duration = 53; initialDepth = 572.033640; finalDepth = 574.760232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.760232 # Seafloor depth:-614.760232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 612.033640 meters looking forward 0.000000 meters along route # Maximum depth: 612.033640 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.033640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867857; longitude = -118.700003; captureRadius = 10; duration = 53; initialDepth = 569.247819; finalDepth = 572.033640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:572.03364 # Seafloor depth:-612.033640 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 609.247819 meters looking forward 0.000000 meters along route # Maximum depth: 609.247819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.247819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868308; longitude = -118.700073; captureRadius = 10; duration = 53; initialDepth = 565.890788; finalDepth = 569.247819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:569.247819 # Seafloor depth:-609.247819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 605.890788 meters looking forward 0.000000 meters along route # Maximum depth: 605.890788 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.890788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868759; longitude = -118.700143; captureRadius = 10; duration = 53; initialDepth = 562.256224; finalDepth = 565.890788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.890788 # Seafloor depth:-605.890788 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 602.256224 meters looking forward 0.000000 meters along route # Maximum depth: 602.256224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.256224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869210; longitude = -118.700212; captureRadius = 10; duration = 53; initialDepth = 558.779622; finalDepth = 562.256224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:562.256224 # Seafloor depth:-602.256224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 598.779622 meters looking forward 0.000000 meters along route # Maximum depth: 598.779622 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.779622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869661; longitude = -118.700282; captureRadius = 10; duration = 53; initialDepth = 555.917101; finalDepth = 558.779622; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:558.779622 # Seafloor depth:-598.779622 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 595.917101 meters looking forward 0.000000 meters along route # Maximum depth: 595.917101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.917101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870112; longitude = -118.700351; captureRadius = 10; duration = 53; initialDepth = 553.322672; finalDepth = 555.917101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:555.917101 # Seafloor depth:-595.917101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 593.322672 meters looking forward 0.000000 meters along route # Maximum depth: 593.322672 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.322672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870563; longitude = -118.700421; captureRadius = 10; duration = 53; initialDepth = 550.308963; finalDepth = 553.322672; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.322672 # Seafloor depth:-593.322672 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 590.308963 meters looking forward 0.000000 meters along route # Maximum depth: 590.308963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.308963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871014; longitude = -118.700490; captureRadius = 10; duration = 53; initialDepth = 546.313004; finalDepth = 550.308963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:550.308963 # Seafloor depth:-590.308963 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 586.313004 meters looking forward 0.000000 meters along route # Maximum depth: 586.313004 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.313004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871465; longitude = -118.700560; captureRadius = 10; duration = 53; initialDepth = 542.782360; finalDepth = 546.313004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:546.313004 # Seafloor depth:-586.313004 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 582.782360 meters looking forward 0.000000 meters along route # Maximum depth: 582.782360 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.782360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871916; longitude = -118.700629; captureRadius = 10; duration = 53; initialDepth = 540.937484; finalDepth = 542.782360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.78236 # Seafloor depth:-582.782360 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 580.937484 meters looking forward 0.000000 meters along route # Maximum depth: 580.937484 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.937484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872366; longitude = -118.700699; captureRadius = 10; duration = 53; initialDepth = 539.926015; finalDepth = 540.937484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:540.937484 # Seafloor depth:-580.937484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 579.926015 meters looking forward 0.000000 meters along route # Maximum depth: 579.926015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.926015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872817; longitude = -118.700768; captureRadius = 10; duration = 53; initialDepth = 538.845739; finalDepth = 539.926015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:539.926015 # Seafloor depth:-579.926015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 578.845739 meters looking forward 0.000000 meters along route # Maximum depth: 578.845739 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.845739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873268; longitude = -118.700838; captureRadius = 10; duration = 53; initialDepth = 537.421113; finalDepth = 538.845739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.845739 # Seafloor depth:-578.845739 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 577.421113 meters looking forward 0.000000 meters along route # Maximum depth: 577.421113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.421113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873719; longitude = -118.700907; captureRadius = 10; duration = 53; initialDepth = 536.814830; finalDepth = 537.421113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.421113 # Seafloor depth:-577.421113 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 576.814830 meters looking forward 0.000000 meters along route # Maximum depth: 576.814830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.814830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874170; longitude = -118.700977; captureRadius = 10; duration = 53; initialDepth = 536.333599; finalDepth = 536.814830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.81483 # Seafloor depth:-576.814830 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 576.333599 meters looking forward 0.000000 meters along route # Maximum depth: 576.333599 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.333599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874621; longitude = -118.701046; captureRadius = 10; duration = 53; initialDepth = 533.079388; finalDepth = 536.333599; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:536.333599 # Seafloor depth:-576.333599 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 573.079388 meters looking forward 0.000000 meters along route # Maximum depth: 573.079388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.079388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875072; longitude = -118.701116; captureRadius = 10; duration = 53; initialDepth = 529.094687; finalDepth = 533.079388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:533.079388 # Seafloor depth:-573.079388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 569.094687 meters looking forward 0.000000 meters along route # Maximum depth: 569.094687 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.094687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875523; longitude = -118.701186; captureRadius = 10; duration = 53; initialDepth = 524.687727; finalDepth = 529.094687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:529.094687 # Seafloor depth:-569.094687 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 564.687727 meters looking forward 0.000000 meters along route # Maximum depth: 564.687727 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 524.687727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875974; longitude = -118.701255; captureRadius = 10; duration = 53; initialDepth = 522.367345; finalDepth = 524.687727; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:524.687727 # Seafloor depth:-564.687727 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 562.367345 meters looking forward 0.000000 meters along route # Maximum depth: 562.367345 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.367345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876425; longitude = -118.701325; captureRadius = 10; duration = 53; initialDepth = 520.820838; finalDepth = 522.367345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:522.367345 # Seafloor depth:-562.367345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 560.820838 meters looking forward 0.000000 meters along route # Maximum depth: 560.820838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.820838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876876; longitude = -118.701394; captureRadius = 10; duration = 53; initialDepth = 518.646447; finalDepth = 520.820838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:520.820838 # Seafloor depth:-560.820838 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 558.646447 meters looking forward 0.000000 meters along route # Maximum depth: 558.646447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.646447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877326; longitude = -118.701464; captureRadius = 10; duration = 53; initialDepth = 518.532146; finalDepth = 518.646447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.646447 # Seafloor depth:-558.646447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 558.532146 meters looking forward 0.000000 meters along route # Maximum depth: 558.532146 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.532146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877777; longitude = -118.701533; captureRadius = 10; duration = 53; initialDepth = 518.696974; finalDepth = 518.532146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.532146 # Seafloor depth:-558.532146 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 558.696974 meters looking forward 0.000000 meters along route # Maximum depth: 558.696974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.696974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878228; longitude = -118.701603; captureRadius = 10; duration = 53; initialDepth = 517.977361; finalDepth = 518.696974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.696974 # Seafloor depth:-558.696974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 557.977361 meters looking forward 0.000000 meters along route # Maximum depth: 557.977361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.977361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878679; longitude = -118.701672; captureRadius = 10; duration = 53; initialDepth = 515.872703; finalDepth = 517.977361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:517.977361 # Seafloor depth:-557.977361 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 555.872703 meters looking forward 0.000000 meters along route # Maximum depth: 555.872703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.872703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879130; longitude = -118.701742; captureRadius = 10; duration = 53; initialDepth = 511.819164; finalDepth = 515.872703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:515.872703 # Seafloor depth:-555.872703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 551.819164 meters looking forward 0.000000 meters along route # Maximum depth: 551.819164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.819164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879581; longitude = -118.701811; captureRadius = 10; duration = 53; initialDepth = 507.713623; finalDepth = 511.819164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:511.819164 # Seafloor depth:-551.819164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 547.713623 meters looking forward 0.000000 meters along route # Maximum depth: 547.713623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.713623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880032; longitude = -118.701881; captureRadius = 10; duration = 53; initialDepth = 503.427103; finalDepth = 507.713623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:507.713623 # Seafloor depth:-547.713623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 543.427103 meters looking forward 0.000000 meters along route # Maximum depth: 543.427103 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.427103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880483; longitude = -118.701950; captureRadius = 10; duration = 53; initialDepth = 500.676972; finalDepth = 503.427103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.427103 # Seafloor depth:-543.427103 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 540.676972 meters looking forward 0.000000 meters along route # Maximum depth: 540.676972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.676972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880934; longitude = -118.702020; captureRadius = 10; duration = 53; initialDepth = 501.734885; finalDepth = 500.676972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.676972 # Seafloor depth:-540.676972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 541.734885 meters looking forward 0.000000 meters along route # Maximum depth: 541.734885 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.734885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881385; longitude = -118.702089; captureRadius = 10; duration = 53; initialDepth = 502.700031; finalDepth = 501.734885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:501.734885 # Seafloor depth:-541.734885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 542.700031 meters looking forward 0.000000 meters along route # Maximum depth: 542.700031 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.700031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881835; longitude = -118.702159; captureRadius = 10; duration = 53; initialDepth = 503.760441; finalDepth = 502.700031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:502.700031 # Seafloor depth:-542.700031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 543.760441 meters looking forward 0.000000 meters along route # Maximum depth: 543.760441 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.760441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882286; longitude = -118.702229; captureRadius = 10; duration = 53; initialDepth = 504.240280; finalDepth = 503.760441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.760441 # Seafloor depth:-543.760441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 544.240280 meters looking forward 0.000000 meters along route # Maximum depth: 544.240280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.240280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882737; longitude = -118.702298; captureRadius = 10; duration = 53; initialDepth = 503.404879; finalDepth = 504.240280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.24028 # Seafloor depth:-544.240280 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 543.404879 meters looking forward 0.000000 meters along route # Maximum depth: 543.404879 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.404879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883188; longitude = -118.702368; captureRadius = 10; duration = 53; initialDepth = 504.331431; finalDepth = 503.404879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.404879 # Seafloor depth:-543.404879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 544.331431 meters looking forward 0.000000 meters along route # Maximum depth: 544.331431 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.331431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883639; longitude = -118.702437; captureRadius = 10; duration = 53; initialDepth = 503.594783; finalDepth = 504.331431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:504.331431 # Seafloor depth:-544.331431 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 543.594783 meters looking forward 0.000000 meters along route # Maximum depth: 543.594783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.594783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884090; longitude = -118.702507; captureRadius = 10; duration = 53; initialDepth = 499.519796; finalDepth = 503.594783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.594783 # Seafloor depth:-543.594783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 539.519796 meters looking forward 0.000000 meters along route # Maximum depth: 539.519796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.519796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884541; longitude = -118.702576; captureRadius = 10; duration = 53; initialDepth = 494.501736; finalDepth = 499.519796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.519796 # Seafloor depth:-539.519796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 534.501736 meters looking forward 0.000000 meters along route # Maximum depth: 534.501736 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.501736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884992; longitude = -118.702646; captureRadius = 10; duration = 53; initialDepth = 489.072927; finalDepth = 494.501736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:494.501736 # Seafloor depth:-534.501736 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 529.072927 meters looking forward 0.000000 meters along route # Maximum depth: 529.072927 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.072927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885443; longitude = -118.702715; captureRadius = 10; duration = 53; initialDepth = 485.606721; finalDepth = 489.072927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.072927 # Seafloor depth:-529.072927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 53.687574 meters # Minimum depth: 525.606721 meters looking forward 0.000000 meters along route # Maximum depth: 525.606721 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.606721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885911; longitude = -118.702787; captureRadius = 10; duration = 53; initialDepth = 482.629578; finalDepth = 485.606721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:485.606721 # Seafloor depth:-525.606721 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 56 # Segment length 53.687574 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: 700.000000 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 = 53; # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 53.687574 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: 700.000000 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 = 53; initialDepth = 520.648884; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 55 # Segment length 53.687574 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: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.648884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.886685; longitude = -118.701268; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 519.933231; finalDepth = 520.648884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.4833785000014 # Actual altitude: 50 # Commanded vehicle depth:520.648884499999 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; initialDepth = 508.657156; finalDepth = 519.933231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.4833785000014 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; initialDepth = 576.195665; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 meters # Minimum depth: 616.195665 meters looking forward 0.000000 meters along route # Maximum depth: 616.195665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 576.195665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862717; longitude = -118.697643; captureRadius = 10; duration = 53; initialDepth = 578.080379; finalDepth = 576.195665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:576.195665 # Seafloor depth:-616.195665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 meters # Minimum depth: 618.080379 meters looking forward 0.000000 meters along route # Maximum depth: 618.080379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.080379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862266; longitude = -118.697575; captureRadius = 10; duration = 53; initialDepth = 579.412675; finalDepth = 578.080379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:578.080379 # Seafloor depth:-618.080379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 meters # Minimum depth: 619.412675 meters looking forward 0.000000 meters along route # Maximum depth: 619.412675 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.412675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861815; longitude = -118.697507; captureRadius = 10; duration = 53; initialDepth = 580.298407; finalDepth = 579.412675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.412675 # Seafloor depth:-619.412675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 meters # Minimum depth: 620.298407 meters looking forward 0.000000 meters along route # Maximum depth: 620.298407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.298407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861364; longitude = -118.697438; captureRadius = 10; duration = 53; initialDepth = 585.714626; finalDepth = 580.298407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.298407 # Seafloor depth:-620.298407 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; initialDepth = 592.235527; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 meters # Minimum depth: 632.235527 meters looking forward 0.000000 meters along route # Maximum depth: 632.235527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 592.235527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860463; longitude = -118.697302; captureRadius = 10; duration = 53; initialDepth = 598.914134; finalDepth = 592.235527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:592.235527 # Seafloor depth:-632.235527 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; initialDepth = 594.204726; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 meters # Minimum depth: 634.204726 meters looking forward 0.000000 meters along route # Maximum depth: 634.204726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.204726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858208; longitude = -118.696961; captureRadius = 10; duration = 53; initialDepth = 595.395127; finalDepth = 594.204726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:594.204726 # Seafloor depth:-634.204726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 meters # Minimum depth: 635.395127 meters looking forward 0.000000 meters along route # Maximum depth: 635.395127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.395127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857757; longitude = -118.696893; captureRadius = 10; duration = 53; initialDepth = 601.275077; finalDepth = 595.395127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:595.395127 # Seafloor depth:-635.395127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; initialDepth = 608.984750; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 meters # Minimum depth: 648.984750 meters looking forward 0.000000 meters along route # Maximum depth: 648.984750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.984750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856855; longitude = -118.696756; captureRadius = 10; duration = 53; initialDepth = 613.771503; finalDepth = 608.984750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.98475 # Seafloor depth:-648.984750 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 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: 700.000000 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 = 53; initialDepth = 629.525293; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 meters # Minimum depth: 669.525293 meters looking forward 0.000000 meters along route # Maximum depth: 669.525293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 629.525293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855503; longitude = -118.696552; captureRadius = 10; duration = 53; initialDepth = 627.338696; finalDepth = 629.525293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:629.525293 # Seafloor depth:-669.525293 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 meters # Minimum depth: 667.338696 meters looking forward 0.000000 meters along route # Maximum depth: 667.338696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.338696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855052; longitude = -118.696484; captureRadius = 10; duration = 53; initialDepth = 629.209793; finalDepth = 627.338696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:627.338696 # Seafloor depth:-667.338696 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 meters # Minimum depth: 669.209793 meters looking forward 0.000000 meters along route # Maximum depth: 669.209793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 629.209793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854601; longitude = -118.696415; captureRadius = 10; duration = 53; initialDepth = 632.104590; finalDepth = 629.209793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:629.209793 # Seafloor depth:-669.209793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 53.687574 meters # Minimum depth: 672.104590 meters looking forward 0.000000 meters along route # Maximum depth: 672.104590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 632.104590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854150; longitude = -118.696347; captureRadius = 10; duration = 53; initialDepth = 638.768738; finalDepth = 632.104590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:632.10459 # Seafloor depth:-672.104590 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 54 # Segment length 53.687574 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: 700.000000 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 = 53; # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 53.687574 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: 700.000000 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 = 53; initialDepth = 648.668274; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 53.687574 meters # Minimum depth: 688.668274 meters looking forward 0.000000 meters along route # Maximum depth: 688.668274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 648.668274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853338; longitude = -118.696772; captureRadius = 10; duration = 53; initialDepth = 650.130386; finalDepth = 648.668274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:648.668274 # Seafloor depth:-688.668274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 53 # Segment length 53.687574 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: 700.000000 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 = 53; # abortOnTimeout = True; initialDepth = 653.958831; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 53.687574 meters # Minimum depth: 693.958831 meters looking forward 0.000000 meters along route # Maximum depth: 693.958831 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.958831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851045; longitude = -118.700519; captureRadius = 10; duration = 53; initialDepth = 656.050769; finalDepth = 653.958831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:653.958831 # Seafloor depth:-693.958831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 53.687574 meters # Minimum depth: 696.050769 meters looking forward 0.000000 meters along route # Maximum depth: 696.050769 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 656.050769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850631; longitude = -118.700735; captureRadius = 10; duration = 53; initialDepth = 655.824897; finalDepth = 656.050769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:656.050769 # Seafloor depth:-696.050769 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 53.687574 meters # Minimum depth: 695.824897 meters looking forward 0.000000 meters along route # Maximum depth: 695.824897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 655.824897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850218; longitude = -118.700951; captureRadius = 10; duration = 53; initialDepth = 655.400114; finalDepth = 655.824897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:655.824897 # Seafloor depth:-695.824897 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 53.687574 meters # Minimum depth: 695.400114 meters looking forward 0.000000 meters along route # Maximum depth: 695.400114 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 655.400114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849804; longitude = -118.701167; captureRadius = 10; duration = 53; initialDepth = 652.716449; finalDepth = 655.400114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:655.400114 # Seafloor depth:-695.400114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 53.687574 meters # Minimum depth: 692.716449 meters looking forward 0.000000 meters along route # Maximum depth: 692.716449 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 652.716449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.849370; longitude = -118.701393; captureRadius = 10; duration = 53; initialDepth = 652.787957; finalDepth = 652.716449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:652.716449 # Seafloor depth:-692.716449 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 53.687574 meters # Minimum depth: 692.787957 meters looking forward 0.000000 meters along route # Maximum depth: 692.787957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 652.787957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848919; longitude = -118.701629; captureRadius = 10; duration = 53; initialDepth = 660.245759; finalDepth = 652.787957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:652.787957 # Seafloor depth:-692.787957 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 53.687574 meters # Minimum depth: 700.245759 meters looking forward 0.000000 meters along route # Maximum depth: 700.245759 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 660.245759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848468; longitude = -118.701864; captureRadius = 10; duration = 53; initialDepth = 665.065254; finalDepth = 660.245759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:660.245759 # Seafloor depth:-700.245759 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 53.687574 meters # Minimum depth: 705.065254 meters looking forward 0.000000 meters along route # Maximum depth: 705.065254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.065254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.848018; longitude = -118.702099; captureRadius = 10; duration = 53; initialDepth = 670.739685; finalDepth = 665.065254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:665.065254 # Seafloor depth:-705.065254 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 52 # Segment length 53.687574 meters # Minimum depth: 710.739685 meters looking forward 0.000000 meters along route # Maximum depth: 710.739685 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 670.739685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847597; longitude = -118.702319; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 672.056262; finalDepth = 670.739685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:670.739685 # Seafloor depth:-710.739685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 53.687574 meters # Minimum depth: 712.056262 meters looking forward 0.000000 meters along route # Maximum depth: 712.056262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.056262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847537; longitude = -118.702355; captureRadius = 10; duration = 53; initialDepth = 679.667497; finalDepth = 672.056262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:672.056262 # Seafloor depth:-712.056262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 53.687574 meters # Minimum depth: 719.667497 meters looking forward 0.000000 meters along route # Maximum depth: 719.667497 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.667497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.847116; longitude = -118.702611; captureRadius = 10; duration = 53; initialDepth = 688.081518; finalDepth = 679.667497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:679.667497 # Seafloor depth:-719.667497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 53.687574 meters # Minimum depth: 728.081518 meters looking forward 0.000000 meters along route # Maximum depth: 728.081518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.081518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.846646; longitude = -118.702895; captureRadius = 10; duration = 53; initialDepth = 694.296000; finalDepth = 688.081518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.081518 # Seafloor depth:-728.081518 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 53.687574 meters # Minimum depth: 734.296000 meters looking forward 0.000000 meters along route # Maximum depth: 734.296000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.296000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.846214; longitude = -118.703158; captureRadius = 10; duration = 53; initialDepth = 698.793084; finalDepth = 694.296000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.296 # Seafloor depth:-734.296000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 53.687574 meters # Minimum depth: 738.793084 meters looking forward 0.000000 meters along route # Maximum depth: 738.793084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.793084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.845755; longitude = -118.703436; captureRadius = 10; duration = 53; initialDepth = 699.569731; finalDepth = 698.793084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.793084 # Seafloor depth:-738.793084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 53.687574 meters # Minimum depth: 739.569731 meters looking forward 0.000000 meters along route # Maximum depth: 739.569731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.569731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.845312; longitude = -118.703704; captureRadius = 10; duration = 53; initialDepth = 698.171601; finalDepth = 699.569731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.569731 # Seafloor depth:-739.569731 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 53.687574 meters # Minimum depth: 738.171601 meters looking forward 0.000000 meters along route # Maximum depth: 738.171601 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.171601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.844861; longitude = -118.703978; captureRadius = 10; duration = 53; initialDepth = 697.736749; finalDepth = 698.171601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:698.171601 # Seafloor depth:-738.171601 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 53.687574 meters # Minimum depth: 737.736749 meters looking forward 0.000000 meters along route # Maximum depth: 737.736749 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.736749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.844410; longitude = -118.704251; captureRadius = 10; duration = 53; initialDepth = 699.103879; finalDepth = 697.736749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:697.736749 # Seafloor depth:-737.736749 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 53.687574 meters # Minimum depth: 739.103879 meters looking forward 0.000000 meters along route # Maximum depth: 739.103879 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.103879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.843959; longitude = -118.704524; captureRadius = 10; duration = 53; initialDepth = 701.807457; finalDepth = 699.103879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:699.103879 # Seafloor depth:-739.103879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 53.687574 meters # Minimum depth: 741.807457 meters looking forward 0.000000 meters along route # Maximum depth: 741.807457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.843509; longitude = -118.704798; captureRadius = 10; duration = 53; initialDepth = 706.358674; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.807457 # Actual altitude: 50 # Commanded vehicle depth:700 # Seafloor depth:-741.807457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 53.687574 meters # Minimum depth: 746.358674 meters looking forward 0.000000 meters along route # Maximum depth: 746.358674 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.843083; longitude = -118.705056; captureRadius = 10; duration = 53; initialDepth = 711.478973; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.358674 # Actual altitude: 50 # Commanded vehicle depth:700 # Seafloor depth:-746.358674 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 51 # Segment length 53.687574 meters # Minimum depth: 751.478973 meters looking forward 0.000000 meters along route # Maximum depth: 751.478973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.842667; longitude = -118.705308; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 712.510669; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.478973 # Actual altitude: 51.478973 # Commanded vehicle depth:700 # Seafloor depth:-751.478973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.92; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 53.687574 meters # Minimum depth: 752.510669 meters looking forward 0.000000 meters along route # Maximum depth: 752.510669 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.842574; longitude = -118.705380; captureRadius = 10; duration = 53; initialDepth = 720.347287; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.510669 # Actual altitude: 52.510669 # Commanded vehicle depth:700 # Seafloor depth:-752.510669 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.04; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 210.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 53.687574 meters # Minimum depth: 760.347287 meters looking forward 0.000000 meters along route # Maximum depth: 760.347287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.842156; longitude = -118.705706; captureRadius = 10; duration = 53; initialDepth = 727.658920; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.3472870000001 # Actual altitude: 60.3472870000001 # Commanded vehicle depth:700 # Seafloor depth:-760.347287 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.39; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.14; MB_Bottom_Detect_Filter_Max_Range = 241.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 53.687574 meters # Minimum depth: 767.658920 meters looking forward 0.000000 meters along route # Maximum depth: 767.658920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.841705; longitude = -118.706056; captureRadius = 10; duration = 53; initialDepth = 732.021318; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.65892 # Actual altitude: 67.65892 # Commanded vehicle depth:700 # Seafloor depth:-767.658920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 270.64; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.06; MB_Bottom_Detect_Filter_Max_Range = 270.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 53.687574 meters # Minimum depth: 772.021318 meters looking forward 0.000000 meters along route # Maximum depth: 772.021318 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.841324; longitude = -118.706352; captureRadius = 10; duration = 53; initialDepth = 739.198430; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.021318 # Actual altitude: 72.021318 # Commanded vehicle depth:700 # Seafloor depth:-772.021318 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 288.09; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.81; MB_Bottom_Detect_Filter_Max_Range = 288.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 53.687574 meters # Minimum depth: 779.198430 meters looking forward 0.000000 meters along route # Maximum depth: 779.198430 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.840893; longitude = -118.706687; captureRadius = 10; duration = 53; initialDepth = 744.323509; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.19843 # Actual altitude: 79.19843 # Commanded vehicle depth:700 # Seafloor depth:-779.198430 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 316.79; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.68; MB_Bottom_Detect_Filter_Max_Range = 316.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 53.687574 meters # Minimum depth: 784.323509 meters looking forward 0.000000 meters along route # Maximum depth: 784.323509 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.840491; longitude = -118.707000; captureRadius = 10; duration = 53; initialDepth = 747.833917; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.3235089999999 # Actual altitude: 84.3235089999999 # Commanded vehicle depth:700 # Seafloor depth:-784.323509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 337.29; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.73; MB_Bottom_Detect_Filter_Max_Range = 337.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 252.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 53.687574 meters # Minimum depth: 787.833917 meters looking forward 0.000000 meters along route # Maximum depth: 787.833917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.840074; longitude = -118.707325; captureRadius = 10; duration = 53; initialDepth = 747.335038; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.833917 # Actual altitude: 87.833917 # Commanded vehicle depth:700 # Seafloor depth:-787.833917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 351.34; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.13; MB_Bottom_Detect_Filter_Max_Range = 351.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 53.687574 meters # Minimum depth: 787.335038 meters looking forward 0.000000 meters along route # Maximum depth: 787.335038 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.839631; longitude = -118.707669; captureRadius = 10; duration = 53; initialDepth = 744.846048; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.833917 # Actual altitude: 87.833917 # Commanded vehicle depth:700 # Seafloor depth:-787.335038 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 351.34; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.13; MB_Bottom_Detect_Filter_Max_Range = 351.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 53.687574 meters # Minimum depth: 784.846048 meters looking forward 0.000000 meters along route # Maximum depth: 784.846048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.839240; longitude = -118.707973; captureRadius = 10; duration = 53; initialDepth = 743.677069; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.3350380000001 # Actual altitude: 87.3350380000001 # Commanded vehicle depth:700 # Seafloor depth:-784.846048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 349.34; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.93; MB_Bottom_Detect_Filter_Max_Range = 349.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 53.687574 meters # Minimum depth: 783.677069 meters looking forward 0.000000 meters along route # Maximum depth: 783.677069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.838819; longitude = -118.708300; captureRadius = 10; duration = 53; initialDepth = 743.361534; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.846048 # Actual altitude: 84.846048 # Commanded vehicle depth:700 # Seafloor depth:-783.677069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 339.38; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.94; MB_Bottom_Detect_Filter_Max_Range = 339.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 53.687574 meters # Minimum depth: 783.361534 meters looking forward 0.000000 meters along route # Maximum depth: 783.361534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.838368; longitude = -118.708651; captureRadius = 10; duration = 53; initialDepth = 743.992449; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.677069 # Actual altitude: 83.677069 # Commanded vehicle depth:700 # Seafloor depth:-783.361534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 334.71; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.47; MB_Bottom_Detect_Filter_Max_Range = 334.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 53.687574 meters # Minimum depth: 783.992449 meters looking forward 0.000000 meters along route # Maximum depth: 783.992449 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.837917; longitude = -118.709002; captureRadius = 10; duration = 53; initialDepth = 744.249847; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.992449 # Actual altitude: 83.992449 # Commanded vehicle depth:700 # Seafloor depth:-783.992449 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 335.97; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.60; MB_Bottom_Detect_Filter_Max_Range = 335.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.98; 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 50 # Segment length 53.687574 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: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.837527; longitude = -118.709305; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 747.914752; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.249847 # Actual altitude: 84.249847 # Commanded vehicle depth:700 # Seafloor depth:-784.249847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 337.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.70; MB_Bottom_Detect_Filter_Max_Range = 337.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 252.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 53.687574 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: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.837360; longitude = -118.709053; captureRadius = 10; duration = 53; initialDepth = 759.276359; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.914752 # Actual altitude: 87.914752 # Commanded vehicle depth:700 # Seafloor depth:-787.914752 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 351.66; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.17; MB_Bottom_Detect_Filter_Max_Range = 351.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 53.687574 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: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.837073; longitude = -118.708621; captureRadius = 10; duration = 53; initialDepth = 767.786310; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.276359 # Actual altitude: 99.276359 # Commanded vehicle depth:700 # Seafloor depth:-799.276359 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 397.11; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.71; MB_Bottom_Detect_Filter_Max_Range = 397.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 53.687574 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: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.836786; longitude = -118.708189; captureRadius = 10; duration = 53; initialDepth = 769.849585; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.78631 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-807.786310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 53.687574 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: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.836499; longitude = -118.707757; captureRadius = 10; duration = 53; initialDepth = 770.086777; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.849585 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-809.849585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 53.687574 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: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.836213; longitude = -118.707325; captureRadius = 10; duration = 53; initialDepth = 771.257764; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.086777 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-810.086777 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 53.687574 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: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.835926; longitude = -118.706892; captureRadius = 10; duration = 53; initialDepth = 770.813639; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.257764 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-811.257764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 53.687574 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: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.835639; longitude = -118.706460; captureRadius = 10; duration = 53; initialDepth = 771.519908; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.257764 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-810.813639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 53.687574 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: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.835352; longitude = -118.706028; captureRadius = 10; duration = 53; initialDepth = 771.891153; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.519908 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-811.519908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 53.687574 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: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.835031; longitude = -118.705545; captureRadius = 10; duration = 53; initialDepth = 774.148834; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 111.891153 # Actual altitude: 100 # Commanded vehicle depth:700 # 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 = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 49 # Segment length 53.687574 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: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.834731; longitude = -118.705092; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 772.350150; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 114.148834 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-814.148834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 53.687574 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: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.835031; longitude = -118.704893; captureRadius = 10; duration = 53; initialDepth = 768.827556; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 114.148834 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-812.350150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 53.687574 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: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.835482; longitude = -118.704594; captureRadius = 10; duration = 53; initialDepth = 767.842106; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.35015 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-808.827556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 53.687574 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: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.835933; longitude = -118.704296; captureRadius = 10; duration = 53; initialDepth = 767.497878; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.827556 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-807.842106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 53.687574 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: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.836416; longitude = -118.703976; captureRadius = 10; duration = 53; initialDepth = 767.025945; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.842106 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-807.497878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 53.687574 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: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.836835; longitude = -118.703698; captureRadius = 10; duration = 53; initialDepth = 766.987648; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.497878 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-807.025945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 53.687574 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: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.837232; longitude = -118.703436; captureRadius = 10; duration = 53; initialDepth = 767.022959; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.025945 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-806.987648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 53.687574 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: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.837647; longitude = -118.703161; captureRadius = 10; duration = 53; initialDepth = 767.509375; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.022959 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-807.022959 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 53.687574 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: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.838048; longitude = -118.702895; captureRadius = 10; duration = 53; initialDepth = 763.049051; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.509375 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-807.509375 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 53.687574 meters # Minimum depth: 803.049051 meters looking forward 0.000000 meters along route # Maximum depth: 803.049051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.838458; longitude = -118.702623; captureRadius = 10; duration = 53; initialDepth = 760.269689; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.509375 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-803.049051 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 53.687574 meters # Minimum depth: 800.269689 meters looking forward 0.000000 meters along route # Maximum depth: 800.269689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.838909; longitude = -118.702325; captureRadius = 10; duration = 53; initialDepth = 757.700885; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 103.049051 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-800.269689 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 53.687574 meters # Minimum depth: 797.700885 meters looking forward 0.000000 meters along route # Maximum depth: 797.700885 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.839360; longitude = -118.702026; captureRadius = 10; duration = 53; initialDepth = 755.446230; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.269689 # Actual altitude: 100 # Commanded vehicle depth:700 # Seafloor depth:-797.700885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 53.687574 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: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.839842; longitude = -118.701707; captureRadius = 10; duration = 53; initialDepth = 753.711358; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.700885 # Actual altitude: 97.700885 # Commanded vehicle depth:700 # Seafloor depth:-795.446230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 390.80; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.08; MB_Bottom_Detect_Filter_Max_Range = 390.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 53.687574 meters # Minimum depth: 793.711358 meters looking forward 0.000000 meters along route # Maximum depth: 793.711358 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.840262; longitude = -118.701429; captureRadius = 10; duration = 53; initialDepth = 751.932015; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.44623 # Actual altitude: 95.44623 # Commanded vehicle depth:700 # Seafloor depth:-793.711358 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 381.78; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.18; MB_Bottom_Detect_Filter_Max_Range = 381.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 53.687574 meters # Minimum depth: 791.932015 meters looking forward 0.000000 meters along route # Maximum depth: 791.932015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.840657; longitude = -118.701167; captureRadius = 10; duration = 53; initialDepth = 751.278244; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.711358 # Actual altitude: 93.711358 # Commanded vehicle depth:700 # Seafloor depth:-791.932015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 374.85; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.48; MB_Bottom_Detect_Filter_Max_Range = 374.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 53.687574 meters # Minimum depth: 791.278244 meters looking forward 0.000000 meters along route # Maximum depth: 791.278244 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.841074; longitude = -118.700891; captureRadius = 10; duration = 53; initialDepth = 751.412363; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.932015 # Actual altitude: 91.932015 # Commanded vehicle depth:700 # Seafloor depth:-791.278244 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 367.73; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.77; MB_Bottom_Detect_Filter_Max_Range = 367.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 53.687574 meters # Minimum depth: 791.412363 meters looking forward 0.000000 meters along route # Maximum depth: 791.412363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.841473; longitude = -118.700627; captureRadius = 10; duration = 53; initialDepth = 750.225732; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.412363 # Actual altitude: 91.412363 # Commanded vehicle depth:700 # Seafloor depth:-791.412363 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 365.65; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.56; MB_Bottom_Detect_Filter_Max_Range = 365.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 53.687574 meters # Minimum depth: 790.225732 meters looking forward 0.000000 meters along route # Maximum depth: 790.225732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.841885; longitude = -118.700354; captureRadius = 10; duration = 53; initialDepth = 748.647334; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.412363 # Actual altitude: 91.412363 # Commanded vehicle depth:700 # Seafloor depth:-790.225732 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 365.65; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.56; MB_Bottom_Detect_Filter_Max_Range = 365.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 53.687574 meters # Minimum depth: 788.647334 meters looking forward 0.000000 meters along route # Maximum depth: 788.647334 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.842288; longitude = -118.700087; captureRadius = 10; duration = 53; initialDepth = 747.146574; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.225732 # Actual altitude: 90.225732 # Commanded vehicle depth:700 # Seafloor depth:-788.647334 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 360.90; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.09; MB_Bottom_Detect_Filter_Max_Range = 360.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 53.687574 meters # Minimum depth: 787.146574 meters looking forward 0.000000 meters along route # Maximum depth: 787.146574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.842697; longitude = -118.699816; captureRadius = 10; duration = 53; initialDepth = 744.997841; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.647334 # Actual altitude: 88.647334 # Commanded vehicle depth:700 # Seafloor depth:-787.146574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 354.59; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.46; MB_Bottom_Detect_Filter_Max_Range = 354.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 53.687574 meters # Minimum depth: 784.997841 meters looking forward 0.000000 meters along route # Maximum depth: 784.997841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.843148; longitude = -118.699518; captureRadius = 10; duration = 53; initialDepth = 743.107631; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.146574 # Actual altitude: 87.146574 # Commanded vehicle depth:700 # Seafloor depth:-784.997841 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 348.59; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.86; MB_Bottom_Detect_Filter_Max_Range = 348.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 53.687574 meters # Minimum depth: 783.107631 meters looking forward 0.000000 meters along route # Maximum depth: 783.107631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.843599; longitude = -118.699219; captureRadius = 10; duration = 53; initialDepth = 741.284869; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.997841 # Actual altitude: 84.997841 # Commanded vehicle depth:700 # Seafloor depth:-783.107631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 339.99; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.00; MB_Bottom_Detect_Filter_Max_Range = 339.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 53.687574 meters # Minimum depth: 781.284869 meters looking forward 0.000000 meters along route # Maximum depth: 781.284869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.844083; longitude = -118.698898; captureRadius = 10; duration = 53; initialDepth = 738.425225; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.107631 # Actual altitude: 83.107631 # Commanded vehicle depth:700 # Seafloor depth:-781.284869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 332.43; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.24; MB_Bottom_Detect_Filter_Max_Range = 332.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 53.687574 meters # Minimum depth: 778.425225 meters looking forward 0.000000 meters along route # Maximum depth: 778.425225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.844501; longitude = -118.698622; captureRadius = 10; duration = 53; initialDepth = 731.665480; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.284869 # Actual altitude: 81.284869 # Commanded vehicle depth:700 # Seafloor depth:-778.425225 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 325.14; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.51; MB_Bottom_Detect_Filter_Max_Range = 325.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 53.687574 meters # Minimum depth: 771.665480 meters looking forward 0.000000 meters along route # Maximum depth: 771.665480 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.844951; longitude = -118.698323; captureRadius = 10; duration = 53; initialDepth = 733.569923; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.425225 # Actual altitude: 78.425225 # Commanded vehicle depth:700 # Seafloor depth:-771.665480 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 313.70; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.37; MB_Bottom_Detect_Filter_Max_Range = 313.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 53.687574 meters # Minimum depth: 773.569923 meters looking forward 0.000000 meters along route # Maximum depth: 773.569923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.845402; longitude = -118.698024; captureRadius = 10; duration = 53; initialDepth = 713.717516; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.569923 # Actual altitude: 73.569923 # Commanded vehicle depth:700 # Seafloor depth:-773.569923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 294.28; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.43; MB_Bottom_Detect_Filter_Max_Range = 294.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 53.687574 meters # Minimum depth: 753.717516 meters looking forward 0.000000 meters along route # Maximum depth: 753.717516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.845877; longitude = -118.697710; captureRadius = 10; duration = 53; initialDepth = 711.121526; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.569923 # Actual altitude: 73.569923 # Commanded vehicle depth:700 # Seafloor depth:-753.717516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 294.28; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.43; MB_Bottom_Detect_Filter_Max_Range = 294.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 53.687574 meters # Minimum depth: 751.121526 meters looking forward 0.000000 meters along route # Maximum depth: 751.121526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.846304; longitude = -118.697427; captureRadius = 10; duration = 53; initialDepth = 713.509795; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.717516 # Actual altitude: 53.717516 # Commanded vehicle depth:700 # Seafloor depth:-751.121526 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.87; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.49; MB_Bottom_Detect_Filter_Max_Range = 214.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 53.687574 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: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.846755; longitude = -118.697129; captureRadius = 10; duration = 53; initialDepth = 709.640076; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5097950000001 # Actual altitude: 53.5097950000001 # Commanded vehicle depth:700 # 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 = 214.04; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.40; MB_Bottom_Detect_Filter_Max_Range = 214.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 48 # Segment length 53.687574 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: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.847236; longitude = -118.696810; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 708.537111; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5097950000001 # Actual altitude: 53.5097950000001 # Commanded vehicle depth:700 # Seafloor depth:-749.640076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.04; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.40; MB_Bottom_Detect_Filter_Max_Range = 214.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 53.687574 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: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.847308; longitude = -118.696738; captureRadius = 10; duration = 53; initialDepth = 706.324059; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.640076 # Actual altitude: 50 # Commanded vehicle depth:700 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 53.687574 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: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.847657; longitude = -118.696392; captureRadius = 10; duration = 53; initialDepth = 710.599192; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.537111 # Actual altitude: 50 # Commanded vehicle depth:700 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 53.687574 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: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.848018; longitude = -118.696033; captureRadius = 10; duration = 53; initialDepth = 702.949631; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.599192 # Actual altitude: 50.599192 # Commanded vehicle depth:700 # Seafloor depth:-750.599192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.40; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 53.687574 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: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.848378; longitude = -118.695675; captureRadius = 10; duration = 53; initialDepth = 700.345600; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.599192 # Actual altitude: 50.599192 # Commanded vehicle depth:700 # Seafloor depth:-742.949631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.40; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 53.687574 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: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 33.848739; longitude = -118.695316; captureRadius = 10; duration = 53; initialDepth = 696.973288; finalDepth = 700.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.949631 # Actual altitude: 50 # Commanded vehicle depth:700 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 53.687574 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: 700.000000 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 = 53; initialDepth = 691.689489; finalDepth = 696.973288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.3456 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 47 # Segment length 53.687574 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: 700.000000 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 = 53; # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 53.687574 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: 700.000000 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 = 53; initialDepth = 689.729577; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 53.687574 meters # Minimum depth: 729.729577 meters looking forward 0.000000 meters along route # Maximum depth: 729.729577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.729577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.850813; longitude = -118.693162; captureRadius = 10; duration = 53; initialDepth = 692.696443; finalDepth = 689.729577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:689.729577 # Seafloor depth:-729.729577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 53.687574 meters # Minimum depth: 732.696443 meters looking forward 0.000000 meters along route # Maximum depth: 732.696443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.696443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851198; longitude = -118.692741; captureRadius = 10; duration = 53; initialDepth = 692.679188; finalDepth = 692.696443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:692.696443 # Seafloor depth:-732.696443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 53.687574 meters # Minimum depth: 732.679188 meters looking forward 0.000000 meters along route # Maximum depth: 732.679188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.679188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851593; longitude = -118.692309; captureRadius = 10; duration = 53; initialDepth = 692.468567; finalDepth = 692.679188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:692.679188 # Seafloor depth:-732.679188 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 46 # Segment length 53.687574 meters # Minimum depth: 732.468567 meters looking forward 0.000000 meters along route # Maximum depth: 732.468567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.468567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.851955; longitude = -118.691913; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 694.186227; finalDepth = 692.468567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:692.468567 # Seafloor depth:-732.468567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 53.687574 meters # Minimum depth: 734.186227 meters looking forward 0.000000 meters along route # Maximum depth: 734.186227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.186227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852076; longitude = -118.691880; captureRadius = 10; duration = 53; initialDepth = 696.766801; finalDepth = 694.186227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.186227 # Seafloor depth:-734.186227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 53.687574 meters # Minimum depth: 736.766801 meters looking forward 0.000000 meters along route # Maximum depth: 736.766801 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.766801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852527; longitude = -118.691757; captureRadius = 10; duration = 53; initialDepth = 694.089720; finalDepth = 696.766801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:696.766801 # Seafloor depth:-736.766801 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 53.687574 meters # Minimum depth: 734.089720 meters looking forward 0.000000 meters along route # Maximum depth: 734.089720 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.089720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.852978; longitude = -118.691635; captureRadius = 10; duration = 53; initialDepth = 691.860818; finalDepth = 694.089720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:694.08972 # Seafloor depth:-734.089720 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 53.687574 meters # Minimum depth: 731.860818 meters looking forward 0.000000 meters along route # Maximum depth: 731.860818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.860818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853428; longitude = -118.691512; captureRadius = 10; duration = 53; initialDepth = 689.356018; finalDepth = 691.860818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:691.860818 # Seafloor depth:-731.860818 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 45 # Segment length 53.687574 meters # Minimum depth: 729.356018 meters looking forward 0.000000 meters along route # Maximum depth: 729.356018 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.356018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.853939; longitude = -118.691373; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 688.566328; finalDepth = 689.356018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:689.356018 # Seafloor depth:-729.356018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 53.687574 meters # Minimum depth: 728.566328 meters looking forward 0.000000 meters along route # Maximum depth: 728.566328 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.566328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854240; longitude = -118.691515; captureRadius = 10; duration = 53; initialDepth = 687.243922; finalDepth = 688.566328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:688.566328 # Seafloor depth:-728.566328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 53.687574 meters # Minimum depth: 727.243922 meters looking forward 0.000000 meters along route # Maximum depth: 727.243922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.243922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.854691; longitude = -118.691728; captureRadius = 10; duration = 53; initialDepth = 684.294699; finalDepth = 687.243922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:687.243922 # Seafloor depth:-727.243922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 53.687574 meters # Minimum depth: 724.294699 meters looking forward 0.000000 meters along route # Maximum depth: 724.294699 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.294699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855142; longitude = -118.691940; captureRadius = 10; duration = 53; initialDepth = 683.888137; finalDepth = 684.294699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:684.294699 # Seafloor depth:-724.294699 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 53.687574 meters # Minimum depth: 723.888137 meters looking forward 0.000000 meters along route # Maximum depth: 723.888137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.888137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.855593; longitude = -118.692153; captureRadius = 10; duration = 53; initialDepth = 682.336297; finalDepth = 683.888137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:683.888137 # Seafloor depth:-723.888137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 53.687574 meters # Minimum depth: 722.336297 meters looking forward 0.000000 meters along route # Maximum depth: 722.336297 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.336297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.856044; longitude = -118.692366; captureRadius = 10; duration = 53; initialDepth = 680.281070; finalDepth = 682.336297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:682.336297 # Seafloor depth:-722.336297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 53.687574 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: 700.000000 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 = 53; # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 53.687574 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: 700.000000 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 = 53; initialDepth = 668.805939; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 53.687574 meters # Minimum depth: 708.805939 meters looking forward 0.000000 meters along route # Maximum depth: 708.805939 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 668.805939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.857757; longitude = -118.693107; captureRadius = 10; duration = 53; initialDepth = 664.494590; finalDepth = 668.805939; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:668.805939 # Seafloor depth:-708.805939 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 53.687574 meters # Minimum depth: 704.494590 meters looking forward 0.000000 meters along route # Maximum depth: 704.494590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 664.494590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858208; longitude = -118.693283; captureRadius = 10; duration = 53; initialDepth = 657.605013; finalDepth = 664.494590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:664.49459 # Seafloor depth:-704.494590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 53.687574 meters # Minimum depth: 697.605013 meters looking forward 0.000000 meters along route # Maximum depth: 697.605013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 657.605013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.858659; longitude = -118.693460; captureRadius = 10; duration = 53; initialDepth = 664.509714; finalDepth = 657.605013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:657.605013 # Seafloor depth:-697.605013 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 53.687574 meters # Minimum depth: 704.509714 meters looking forward 0.000000 meters along route # Maximum depth: 704.509714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 664.509714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.859110; longitude = -118.693636; captureRadius = 10; duration = 53; initialDepth = 668.822377; finalDepth = 664.509714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:664.509714 # Seafloor depth:-704.509714 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 43 # Segment length 53.687574 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: 700.000000 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 = 53; # abortOnTimeout = True; initialDepth = 674.313746; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 53.687574 meters # Minimum depth: 714.313746 meters looking forward 0.000000 meters along route # Maximum depth: 714.313746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.313746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860372; longitude = -118.693898; captureRadius = 10; duration = 53; initialDepth = 673.944963; finalDepth = 674.313746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:674.313746 # Seafloor depth:-714.313746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 53.687574 meters # Minimum depth: 713.944963 meters looking forward 0.000000 meters along route # Maximum depth: 713.944963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.944963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.860823; longitude = -118.693757; captureRadius = 10; duration = 53; initialDepth = 669.054745; finalDepth = 673.944963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:673.944963 # Seafloor depth:-713.944963 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 53.687574 meters # Minimum depth: 709.054745 meters looking forward 0.000000 meters along route # Maximum depth: 709.054745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 669.054745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861274; longitude = -118.693617; captureRadius = 10; duration = 53; initialDepth = 671.745093; finalDepth = 669.054745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:669.054745 # Seafloor depth:-709.054745 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 53.687574 meters # Minimum depth: 711.745093 meters looking forward 0.000000 meters along route # Maximum depth: 711.745093 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.745093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.861725; longitude = -118.693476; captureRadius = 10; duration = 53; initialDepth = 666.736282; finalDepth = 671.745093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:671.745093 # Seafloor depth:-711.745093 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 53.687574 meters # Minimum depth: 706.736282 meters looking forward 0.000000 meters along route # Maximum depth: 706.736282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 666.736282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862236; longitude = -118.693317; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 665.948128; finalDepth = 666.736282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:666.736282 # Seafloor depth:-706.736282 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 53.687574 meters # Minimum depth: 705.948128 meters looking forward 0.000000 meters along route # Maximum depth: 705.948128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.948128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862447; longitude = -118.693320; captureRadius = 10; duration = 53; initialDepth = 663.218020; finalDepth = 665.948128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:665.948128 # Seafloor depth:-705.948128 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 53.687574 meters # Minimum depth: 703.218020 meters looking forward 0.000000 meters along route # Maximum depth: 703.218020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 663.218020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.862897; longitude = -118.693327; captureRadius = 10; duration = 53; initialDepth = 662.296082; finalDepth = 663.218020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:663.21802 # Seafloor depth:-703.218020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 53.687574 meters # Minimum depth: 702.296082 meters looking forward 0.000000 meters along route # Maximum depth: 702.296082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 662.296082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863348; longitude = -118.693333; captureRadius = 10; duration = 53; initialDepth = 662.143774; finalDepth = 662.296082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:662.296082 # Seafloor depth:-702.296082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 53.687574 meters # Minimum depth: 702.143774 meters looking forward 0.000000 meters along route # Maximum depth: 702.143774 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 662.143774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.863799; longitude = -118.693340; captureRadius = 10; duration = 53; initialDepth = 659.609386; finalDepth = 662.143774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:662.143774 # Seafloor depth:-702.143774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 53.687574 meters # Minimum depth: 699.609386 meters looking forward 0.000000 meters along route # Maximum depth: 699.609386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 659.609386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864250; longitude = -118.693346; captureRadius = 10; duration = 53; initialDepth = 656.255783; finalDepth = 659.609386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:659.609386 # Seafloor depth:-699.609386 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 53.687574 meters # Minimum depth: 696.255783 meters looking forward 0.000000 meters along route # Maximum depth: 696.255783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 656.255783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864731; longitude = -118.693353; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 656.263768; finalDepth = 656.255783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:656.255783 # Seafloor depth:-696.255783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 53.687574 meters # Minimum depth: 696.263768 meters looking forward 0.000000 meters along route # Maximum depth: 696.263768 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 656.263768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.864791; longitude = -118.693371; captureRadius = 10; duration = 53; initialDepth = 655.402115; finalDepth = 656.263768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:656.263768 # Seafloor depth:-696.263768 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 53.687574 meters # Minimum depth: 695.402115 meters looking forward 0.000000 meters along route # Maximum depth: 695.402115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 655.402115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865242; longitude = -118.693503; captureRadius = 10; duration = 53; initialDepth = 651.300886; finalDepth = 655.402115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:655.402115 # Seafloor depth:-695.402115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 53.687574 meters # Minimum depth: 691.300886 meters looking forward 0.000000 meters along route # Maximum depth: 691.300886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 651.300886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.865693; longitude = -118.693635; captureRadius = 10; duration = 53; initialDepth = 648.505356; finalDepth = 651.300886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:651.300886 # Seafloor depth:-691.300886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 53.687574 meters # Minimum depth: 688.505356 meters looking forward 0.000000 meters along route # Maximum depth: 688.505356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 648.505356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866144; longitude = -118.693767; captureRadius = 10; duration = 53; initialDepth = 647.156038; finalDepth = 648.505356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:648.505356 # Seafloor depth:-688.505356 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 53.687574 meters # Minimum depth: 687.156038 meters looking forward 0.000000 meters along route # Maximum depth: 687.156038 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.156038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.866595; longitude = -118.693899; captureRadius = 10; duration = 53; initialDepth = 644.442510; finalDepth = 647.156038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:647.156038 # Seafloor depth:-687.156038 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 53.687574 meters # Minimum depth: 684.442510 meters looking forward 0.000000 meters along route # Maximum depth: 684.442510 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.442510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867066; longitude = -118.694037; captureRadius = 10; duration = 53; initialDepth = 642.210938; finalDepth = 644.442510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:644.44251 # Seafloor depth:-684.442510 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 53.687574 meters # Minimum depth: 682.210938 meters looking forward 0.000000 meters along route # Maximum depth: 682.210938 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.210938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867557; longitude = -118.694181; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 639.605820; finalDepth = 642.210938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:642.210938 # Seafloor depth:-682.210938 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 53.687574 meters # Minimum depth: 679.605820 meters looking forward 0.000000 meters along route # Maximum depth: 679.605820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 639.605820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.867948; longitude = -118.694308; captureRadius = 10; duration = 53; initialDepth = 635.728578; finalDepth = 639.605820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:639.60582 # Seafloor depth:-679.605820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 53.687574 meters # Minimum depth: 675.728578 meters looking forward 0.000000 meters along route # Maximum depth: 675.728578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.728578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868398; longitude = -118.694454; captureRadius = 10; duration = 53; initialDepth = 634.257743; finalDepth = 635.728578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:635.728578 # Seafloor depth:-675.728578 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 53.687574 meters # Minimum depth: 674.257743 meters looking forward 0.000000 meters along route # Maximum depth: 674.257743 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.257743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.868849; longitude = -118.694601; captureRadius = 10; duration = 53; initialDepth = 635.011383; finalDepth = 634.257743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:634.257743 # Seafloor depth:-674.257743 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 53.687574 meters # Minimum depth: 675.011383 meters looking forward 0.000000 meters along route # Maximum depth: 675.011383 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.011383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869330; longitude = -118.694757; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 635.105033; finalDepth = 635.011383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:635.011383 # Seafloor depth:-675.011383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 53.687574 meters # Minimum depth: 675.105033 meters looking forward 0.000000 meters along route # Maximum depth: 675.105033 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.105033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869481; longitude = -118.694757; captureRadius = 10; duration = 53; initialDepth = 635.080757; finalDepth = 635.105033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:635.105033 # Seafloor depth:-675.105033 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 53.687574 meters # Minimum depth: 675.080757 meters looking forward 0.000000 meters along route # Maximum depth: 675.080757 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.080757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.869932; longitude = -118.694757; captureRadius = 10; duration = 53; initialDepth = 634.846985; finalDepth = 635.080757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:635.080757 # Seafloor depth:-675.080757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 53.687574 meters # Minimum depth: 674.846985 meters looking forward 0.000000 meters along route # Maximum depth: 674.846985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.846985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870382; longitude = -118.694757; captureRadius = 10; duration = 53; initialDepth = 633.717393; finalDepth = 634.846985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:634.846985 # Seafloor depth:-674.846985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 53.687574 meters # Minimum depth: 673.717393 meters looking forward 0.000000 meters along route # Maximum depth: 673.717393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 633.717393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.870833; longitude = -118.694757; captureRadius = 10; duration = 53; initialDepth = 632.691640; finalDepth = 633.717393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:633.717393 # Seafloor depth:-673.717393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 53.687574 meters # Minimum depth: 672.691640 meters looking forward 0.000000 meters along route # Maximum depth: 672.691640 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 632.691640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871284; longitude = -118.694757; captureRadius = 10; duration = 53; initialDepth = 632.410029; finalDepth = 632.691640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:632.69164 # Seafloor depth:-672.691640 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 53.687574 meters # Minimum depth: 672.410029 meters looking forward 0.000000 meters along route # Maximum depth: 672.410029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 632.410029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.871735; longitude = -118.694757; captureRadius = 10; duration = 53; initialDepth = 630.406769; finalDepth = 632.410029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:632.410029 # Seafloor depth:-672.410029 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 53.687574 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: 700.000000 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 = 53; # abortOnTimeout = True; initialDepth = 630.848063; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 53.687574 meters # Minimum depth: 670.848063 meters looking forward 0.000000 meters along route # Maximum depth: 670.848063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.848063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872366; longitude = -118.694796; captureRadius = 10; duration = 53; initialDepth = 630.606162; finalDepth = 630.848063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:630.848063 # Seafloor depth:-670.848063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 53.687574 meters # Minimum depth: 670.606162 meters looking forward 0.000000 meters along route # Maximum depth: 670.606162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.606162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.872817; longitude = -118.694915; captureRadius = 10; duration = 53; initialDepth = 631.534007; finalDepth = 630.606162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:630.606162 # Seafloor depth:-670.606162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 53.687574 meters # Minimum depth: 671.534007 meters looking forward 0.000000 meters along route # Maximum depth: 671.534007 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 631.534007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873268; longitude = -118.695033; captureRadius = 10; duration = 53; initialDepth = 631.241706; finalDepth = 631.534007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:631.534007 # Seafloor depth:-671.534007 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 53.687574 meters # Minimum depth: 671.241706 meters looking forward 0.000000 meters along route # Maximum depth: 671.241706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 631.241706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.873719; longitude = -118.695151; captureRadius = 10; duration = 53; initialDepth = 622.146245; finalDepth = 631.241706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:631.241706 # Seafloor depth:-671.241706 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 53.687574 meters # Minimum depth: 662.146245 meters looking forward 0.000000 meters along route # Maximum depth: 662.146245 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.146245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874170; longitude = -118.695270; captureRadius = 10; duration = 53; initialDepth = 613.667821; finalDepth = 622.146245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:622.146245 # Seafloor depth:-662.146245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 53.687574 meters # Minimum depth: 653.667821 meters looking forward 0.000000 meters along route # Maximum depth: 653.667821 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 613.667821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.874621; longitude = -118.695388; captureRadius = 10; duration = 53; initialDepth = 611.144394; finalDepth = 613.667821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:613.667821 # Seafloor depth:-653.667821 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 53.687574 meters # Minimum depth: 651.144394 meters looking forward 0.000000 meters along route # Maximum depth: 651.144394 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.144394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875102; longitude = -118.695514; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 606.147159; finalDepth = 611.144394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:611.144394 # Seafloor depth:-651.144394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 53.687574 meters # Minimum depth: 646.147159 meters looking forward 0.000000 meters along route # Maximum depth: 646.147159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 606.147159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875523; longitude = -118.695296; captureRadius = 10; duration = 53; initialDepth = 612.028789; finalDepth = 606.147159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:606.147159 # Seafloor depth:-646.147159 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 53.687574 meters # Minimum depth: 652.028789 meters looking forward 0.000000 meters along route # Maximum depth: 652.028789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.028789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.875974; longitude = -118.695063; captureRadius = 10; duration = 53; initialDepth = 608.263358; finalDepth = 612.028789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:612.028789 # Seafloor depth:-652.028789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 53.687574 meters # Minimum depth: 648.263358 meters looking forward 0.000000 meters along route # Maximum depth: 648.263358 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.263358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876425; longitude = -118.694830; captureRadius = 10; duration = 53; initialDepth = 600.693436; finalDepth = 608.263358; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:608.263358 # Seafloor depth:-648.263358 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 53.687574 meters # Minimum depth: 640.693436 meters looking forward 0.000000 meters along route # Maximum depth: 640.693436 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.693436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.876845; longitude = -118.694613; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 603.954724; finalDepth = 600.693436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.693436 # Seafloor depth:-640.693436 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 53.687574 meters # Minimum depth: 643.954724 meters looking forward 0.000000 meters along route # Maximum depth: 643.954724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.954724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877236; longitude = -118.694814; captureRadius = 10; duration = 53; initialDepth = 603.333231; finalDepth = 603.954724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:603.954724 # Seafloor depth:-643.954724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 53.687574 meters # Minimum depth: 643.333231 meters looking forward 0.000000 meters along route # Maximum depth: 643.333231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.333231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.877687; longitude = -118.695046; captureRadius = 10; duration = 53; initialDepth = 600.961349; finalDepth = 603.333231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:603.333231 # Seafloor depth:-643.333231 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 53.687574 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: 700.000000 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 = 53; # abortOnTimeout = True; initialDepth = 600.449418; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 53.687574 meters # Minimum depth: 640.449418 meters looking forward 0.000000 meters along route # Maximum depth: 640.449418 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 600.449418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878194; longitude = -118.695334; captureRadius = 10; duration = 53; initialDepth = 598.686796; finalDepth = 600.449418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:600.449418 # Seafloor depth:-640.449418 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 53.687574 meters # Minimum depth: 638.686796 meters looking forward 0.000000 meters along route # Maximum depth: 638.686796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 598.686796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878589; longitude = -118.695663; captureRadius = 10; duration = 53; initialDepth = 595.877309; finalDepth = 598.686796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:598.686796 # Seafloor depth:-638.686796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 53.687574 meters # Minimum depth: 635.877309 meters looking forward 0.000000 meters along route # Maximum depth: 635.877309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.877309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.878972; longitude = -118.695982; captureRadius = 10; duration = 53; initialDepth = 592.841003; finalDepth = 595.877309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:595.877309 # Seafloor depth:-635.877309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 53.687574 meters # Minimum depth: 632.841003 meters looking forward 0.000000 meters along route # Maximum depth: 632.841003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 592.841003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879361; longitude = -118.696306; captureRadius = 10; duration = 53; initialDepth = 591.960701; finalDepth = 592.841003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:592.841003 # Seafloor depth:-632.841003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 53.687574 meters # Minimum depth: 631.960701 meters looking forward 0.000000 meters along route # Maximum depth: 631.960701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.960701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.879761; longitude = -118.696639; captureRadius = 10; duration = 53; initialDepth = 586.985962; finalDepth = 591.960701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:591.960701 # Seafloor depth:-631.960701 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 53.687574 meters # Minimum depth: 626.985962 meters looking forward 0.000000 meters along route # Maximum depth: 626.985962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.985962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880182; longitude = -118.696990; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 580.044879; finalDepth = 586.985962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:586.985962 # Seafloor depth:-626.985962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 53.687574 meters # Minimum depth: 620.044879 meters looking forward 0.000000 meters along route # Maximum depth: 620.044879 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.044879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880483; longitude = -118.697093; captureRadius = 10; duration = 53; initialDepth = 574.351006; finalDepth = 580.044879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.044879 # Seafloor depth:-620.044879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 53.687574 meters # Minimum depth: 614.351006 meters looking forward 0.000000 meters along route # Maximum depth: 614.351006 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.351006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.880934; longitude = -118.697247; captureRadius = 10; duration = 53; initialDepth = 582.223770; finalDepth = 574.351006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:574.351006 # Seafloor depth:-614.351006 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 53.687574 meters # Minimum depth: 622.223770 meters looking forward 0.000000 meters along route # Maximum depth: 622.223770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 582.223770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881445; longitude = -118.697422; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 579.233784; finalDepth = 582.223770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:582.22377 # Seafloor depth:-622.223770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 53.687574 meters # Minimum depth: 619.233784 meters looking forward 0.000000 meters along route # Maximum depth: 619.233784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.233784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881574; longitude = -118.697170; captureRadius = 10; duration = 53; initialDepth = 585.613268; finalDepth = 579.233784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:579.233784 # Seafloor depth:-619.233784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 53.687574 meters # Minimum depth: 625.613268 meters looking forward 0.000000 meters along route # Maximum depth: 625.613268 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.613268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.881850; longitude = -118.696630; captureRadius = 10; duration = 53; initialDepth = 584.375324; finalDepth = 585.613268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:585.613268 # Seafloor depth:-625.613268 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 53.687574 meters # Minimum depth: 624.375324 meters looking forward 0.000000 meters along route # Maximum depth: 624.375324 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.375324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882106; longitude = -118.696130; captureRadius = 10; duration = 53; initialDepth = 580.499768; finalDepth = 584.375324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:584.375324 # Seafloor depth:-624.375324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 53.687574 meters # Minimum depth: 620.499768 meters looking forward 0.000000 meters along route # Maximum depth: 620.499768 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.499768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882348; longitude = -118.695658; captureRadius = 10; duration = 53; initialDepth = 573.936539; finalDepth = 580.499768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:580.499768 # Seafloor depth:-620.499768 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 53.687574 meters # Minimum depth: 613.936539 meters looking forward 0.000000 meters along route # Maximum depth: 613.936539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.936539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882587; longitude = -118.695190; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 575.304022; finalDepth = 573.936539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:573.936539 # Seafloor depth:-613.936539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 53.687574 meters # Minimum depth: 615.304022 meters looking forward 0.000000 meters along route # Maximum depth: 615.304022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.304022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.882737; longitude = -118.695179; captureRadius = 10; duration = 53; initialDepth = 571.354944; finalDepth = 575.304022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:575.304022 # Seafloor depth:-615.304022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 53.687574 meters # Minimum depth: 611.354944 meters looking forward 0.000000 meters along route # Maximum depth: 611.354944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.354944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883188; longitude = -118.695148; captureRadius = 10; duration = 53; initialDepth = 565.505198; finalDepth = 571.354944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:571.354944 # Seafloor depth:-611.354944 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 53.687574 meters # Minimum depth: 605.505198 meters looking forward 0.000000 meters along route # Maximum depth: 605.505198 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.505198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.883639; longitude = -118.695116; captureRadius = 10; duration = 53; initialDepth = 553.595825; finalDepth = 565.505198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:565.505198 # Seafloor depth:-605.505198 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 53.687574 meters # Minimum depth: 593.595825 meters looking forward 0.000000 meters along route # Maximum depth: 593.595825 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.595825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884120; longitude = -118.695082; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 554.875675; finalDepth = 553.595825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.595825 # Seafloor depth:-593.595825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 53.687574 meters # Minimum depth: 594.875675 meters looking forward 0.000000 meters along route # Maximum depth: 594.875675 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.875675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884160; longitude = -118.695118; captureRadius = 10; duration = 53; initialDepth = 553.978632; finalDepth = 554.875675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.875675 # Seafloor depth:-594.875675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 53.687574 meters # Minimum depth: 593.978632 meters looking forward 0.000000 meters along route # Maximum depth: 593.978632 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.978632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884526; longitude = -118.695442; captureRadius = 10; duration = 53; initialDepth = 553.896531; finalDepth = 553.978632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.978632 # Seafloor depth:-593.978632 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 53.687574 meters # Minimum depth: 593.896531 meters looking forward 0.000000 meters along route # Maximum depth: 593.896531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.896531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.884893; longitude = -118.695766; captureRadius = 10; duration = 53; initialDepth = 552.059849; finalDepth = 553.896531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.896531 # Seafloor depth:-593.896531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 53.687574 meters # Minimum depth: 592.059849 meters looking forward 0.000000 meters along route # Maximum depth: 592.059849 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.059849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885262; longitude = -118.696093; captureRadius = 10; duration = 53; initialDepth = 551.771111; finalDepth = 552.059849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.059849 # Seafloor depth:-592.059849 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 53.687574 meters # Minimum depth: 591.771111 meters looking forward 0.000000 meters along route # Maximum depth: 591.771111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.771111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885625; longitude = -118.696414; captureRadius = 10; duration = 53; initialDepth = 552.389380; finalDepth = 551.771111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.771111 # Seafloor depth:-591.771111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 53.687574 meters # Minimum depth: 592.389380 meters looking forward 0.000000 meters along route # Maximum depth: 592.389380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.389380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.885992; longitude = -118.696738; captureRadius = 10; duration = 53; initialDepth = 553.713254; finalDepth = 552.389380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.38938 # Seafloor depth:-592.389380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 53.687574 meters # Minimum depth: 593.713254 meters looking forward 0.000000 meters along route # Maximum depth: 593.713254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.713254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.886358; longitude = -118.697062; captureRadius = 10; duration = 53; initialDepth = 555.051712; finalDepth = 553.713254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.713254 # Seafloor depth:-593.713254 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 53.687574 meters # Minimum depth: 595.051712 meters looking forward 0.000000 meters along route # Maximum depth: 595.051712 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.051712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.886765; longitude = -118.697422; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 552.864783; finalDepth = 555.051712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:555.051712 # Seafloor depth:-595.051712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 53.687574 meters # Minimum depth: 592.864783 meters looking forward 0.000000 meters along route # Maximum depth: 592.864783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.864783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.886886; longitude = -118.697414; captureRadius = 10; duration = 53; initialDepth = 546.997548; finalDepth = 552.864783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:552.864783 # Seafloor depth:-592.864783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 53.687574 meters # Minimum depth: 586.997548 meters looking forward 0.000000 meters along route # Maximum depth: 586.997548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.997548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.887337; longitude = -118.697382; captureRadius = 10; duration = 53; initialDepth = 550.031526; finalDepth = 546.997548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:546.997548 # Seafloor depth:-586.997548 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 53.687574 meters # Minimum depth: 590.031526 meters looking forward 0.000000 meters along route # Maximum depth: 590.031526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.031526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.887787; longitude = -118.697350; captureRadius = 10; duration = 53; initialDepth = 554.240753; finalDepth = 550.031526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:550.031526 # Seafloor depth:-590.031526 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 53.687574 meters # Minimum depth: 594.240753 meters looking forward 0.000000 meters along route # Maximum depth: 594.240753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.240753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.888298; longitude = -118.697314; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 554.193448; finalDepth = 554.240753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.240753 # Seafloor depth:-594.240753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 53.687574 meters # Minimum depth: 594.193448 meters looking forward 0.000000 meters along route # Maximum depth: 594.193448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.193448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.888329; longitude = -118.697265; captureRadius = 10; duration = 53; initialDepth = 553.383732; finalDepth = 554.193448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:554.193448 # Seafloor depth:-594.193448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 53.687574 meters # Minimum depth: 593.383732 meters looking forward 0.000000 meters along route # Maximum depth: 593.383732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.383732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.888659; longitude = -118.696738; captureRadius = 10; duration = 53; initialDepth = 551.735234; finalDepth = 553.383732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:553.383732 # Seafloor depth:-593.383732 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 53.687574 meters # Minimum depth: 591.735234 meters looking forward 0.000000 meters along route # Maximum depth: 591.735234 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.735234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.888960; longitude = -118.696257; captureRadius = 10; duration = 53; initialDepth = 548.600899; finalDepth = 551.735234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:551.735234 # Seafloor depth:-591.735234 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 53.687574 meters # Minimum depth: 588.600899 meters looking forward 0.000000 meters along route # Maximum depth: 588.600899 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.600899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.889267; longitude = -118.695766; captureRadius = 10; duration = 53; initialDepth = 543.498655; finalDepth = 548.600899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:548.600899 # Seafloor depth:-588.600899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 53.687574 meters # Minimum depth: 583.498655 meters looking forward 0.000000 meters along route # Maximum depth: 583.498655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.498655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.889591; longitude = -118.695249; captureRadius = 10; duration = 53; initialDepth = 537.097595; finalDepth = 543.498655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:543.498655 # Seafloor depth:-583.498655 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 53.687574 meters # Minimum depth: 577.097595 meters looking forward 0.000000 meters along route # Maximum depth: 577.097595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.097595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.889876; longitude = -118.694793; captureRadius = 10; duration = 53; initialDepth = 530.018372; finalDepth = 537.097595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:537.097595 # Seafloor depth:-577.097595 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 53.687574 meters # Minimum depth: 570.018372 meters looking forward 0.000000 meters along route # Maximum depth: 570.018372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.018372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.890192; longitude = -118.694289; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 526.702488; finalDepth = 530.018372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:530.018372 # Seafloor depth:-570.018372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 53.687574 meters # Minimum depth: 566.702488 meters looking forward 0.000000 meters along route # Maximum depth: 566.702488 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 526.702488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.890403; longitude = -118.694075; captureRadius = 10; duration = 53; initialDepth = 515.913742; finalDepth = 526.702488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:526.702488 # Seafloor depth:-566.702488 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 53.687574 meters # Minimum depth: 555.913742 meters looking forward 0.000000 meters along route # Maximum depth: 555.913742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.913742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.890763; longitude = -118.693707; captureRadius = 10; duration = 53; initialDepth = 513.793344; finalDepth = 515.913742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:515.913742 # Seafloor depth:-555.913742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 53.687574 meters # Minimum depth: 553.793344 meters looking forward 0.000000 meters along route # Maximum depth: 553.793344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.793344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.891124; longitude = -118.693340; captureRadius = 10; duration = 53; initialDepth = 509.177331; finalDepth = 513.793344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.793344 # Seafloor depth:-553.793344 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 53.687574 meters # Minimum depth: 549.177331 meters looking forward 0.000000 meters along route # Maximum depth: 549.177331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.177331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.891501; longitude = -118.692957; captureRadius = 10; duration = 53; initialDepth = 506.928085; finalDepth = 509.177331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:509.177331 # Seafloor depth:-549.177331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 53.687574 meters # Minimum depth: 546.928085 meters looking forward 0.000000 meters along route # Maximum depth: 546.928085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.928085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.891846; longitude = -118.692606; captureRadius = 10; duration = 53; initialDepth = 507.503260; finalDepth = 506.928085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.928085 # Seafloor depth:-546.928085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 53.687574 meters # Minimum depth: 547.503260 meters looking forward 0.000000 meters along route # Maximum depth: 547.503260 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.503260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.892243; longitude = -118.692201; captureRadius = 10; duration = 53; initialDepth = 506.159393; finalDepth = 507.503260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:507.50326 # Seafloor depth:-547.503260 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 53.687574 meters # Minimum depth: 546.159393 meters looking forward 0.000000 meters along route # Maximum depth: 546.159393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.159393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.892597; longitude = -118.691841; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 506.226901; finalDepth = 506.159393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.159393 # Seafloor depth:-546.159393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 53.687574 meters # Minimum depth: 546.226901 meters looking forward 0.000000 meters along route # Maximum depth: 546.226901 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 506.226901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.892747; longitude = -118.691690; captureRadius = 10; duration = 53; initialDepth = 507.972854; finalDepth = 506.226901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:506.226901 # Seafloor depth:-546.226901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 53.687574 meters # Minimum depth: 547.972854 meters looking forward 0.000000 meters along route # Maximum depth: 547.972854 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.972854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.893108; longitude = -118.691327; captureRadius = 10; duration = 53; initialDepth = 505.218089; finalDepth = 507.972854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:507.972854 # Seafloor depth:-547.972854 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 53.687574 meters # Minimum depth: 545.218089 meters looking forward 0.000000 meters along route # Maximum depth: 545.218089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.218089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.893469; longitude = -118.690964; captureRadius = 10; duration = 53; initialDepth = 509.628382; finalDepth = 505.218089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.218089 # Seafloor depth:-545.218089 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 53.687574 meters # Minimum depth: 549.628382 meters looking forward 0.000000 meters along route # Maximum depth: 549.628382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.628382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.893830; longitude = -118.690601; captureRadius = 10; duration = 53; initialDepth = 510.784537; finalDepth = 509.628382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:509.628382 # Seafloor depth:-549.628382 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 53.687574 meters # Minimum depth: 550.784537 meters looking forward 0.000000 meters along route # Maximum depth: 550.784537 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.784537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.894190; longitude = -118.690238; captureRadius = 10; duration = 53; initialDepth = 513.145250; finalDepth = 510.784537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:510.784537 # Seafloor depth:-550.784537 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 53.687574 meters # Minimum depth: 553.145250 meters looking forward 0.000000 meters along route # Maximum depth: 553.145250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.145250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.894551; longitude = -118.689875; captureRadius = 10; duration = 53; initialDepth = 513.546261; finalDepth = 513.145250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.14525 # Seafloor depth:-553.145250 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 53.687574 meters # Minimum depth: 553.546261 meters looking forward 0.000000 meters along route # Maximum depth: 553.546261 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.546261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.894923; longitude = -118.689500; captureRadius = 10; duration = 53; initialDepth = 512.462297; finalDepth = 513.546261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:513.546261 # Seafloor depth:-553.546261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 53.687574 meters # Minimum depth: 552.462297 meters looking forward 0.000000 meters along route # Maximum depth: 552.462297 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 512.462297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.895272; longitude = -118.689149; captureRadius = 10; duration = 53; initialDepth = 509.995331; finalDepth = 512.462297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:512.462297 # Seafloor depth:-552.462297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 53.687574 meters # Minimum depth: 549.995331 meters looking forward 0.000000 meters along route # Maximum depth: 549.995331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.995331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.895633; longitude = -118.688786; captureRadius = 10; duration = 53; initialDepth = 503.392587; finalDepth = 509.995331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:509.995331 # Seafloor depth:-549.995331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 53.687574 meters # Minimum depth: 543.392587 meters looking forward 0.000000 meters along route # Maximum depth: 543.392587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.392587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.895997; longitude = -118.688420; captureRadius = 10; duration = 53; initialDepth = 500.243301; finalDepth = 503.392587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.392587 # Seafloor depth:-543.392587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 53.687574 meters # Minimum depth: 540.243301 meters looking forward 0.000000 meters along route # Maximum depth: 540.243301 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.243301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.896355; longitude = -118.688060; captureRadius = 10; duration = 53; initialDepth = 500.688246; finalDepth = 500.243301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.243301 # Seafloor depth:-540.243301 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 53.687574 meters # Minimum depth: 540.688246 meters looking forward 0.000000 meters along route # Maximum depth: 540.688246 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.688246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.896749; longitude = -118.687664; captureRadius = 10; duration = 53; initialDepth = 499.165665; finalDepth = 500.688246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.688246 # Seafloor depth:-540.688246 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 53.687574 meters # Minimum depth: 539.165665 meters looking forward 0.000000 meters along route # Maximum depth: 539.165665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.165665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.897106; longitude = -118.687304; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 498.754202; finalDepth = 499.165665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.165665 # Seafloor depth:-539.165665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 53.687574 meters # Minimum depth: 538.754202 meters looking forward 0.000000 meters along route # Maximum depth: 538.754202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.754202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.897153; longitude = -118.687232; captureRadius = 10; duration = 53; initialDepth = 499.934379; finalDepth = 498.754202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:498.754202 # Seafloor depth:-538.754202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 53.687574 meters # Minimum depth: 539.934379 meters looking forward 0.000000 meters along route # Maximum depth: 539.934379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.934379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.897437; longitude = -118.686799; captureRadius = 10; duration = 53; initialDepth = 499.878691; finalDepth = 499.934379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.934379 # Seafloor depth:-539.934379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 53.687574 meters # Minimum depth: 539.878691 meters looking forward 0.000000 meters along route # Maximum depth: 539.878691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.878691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.897720; longitude = -118.686367; captureRadius = 10; duration = 53; initialDepth = 503.129594; finalDepth = 499.878691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.878691 # Seafloor depth:-539.878691 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 53.687574 meters # Minimum depth: 543.129594 meters looking forward 0.000000 meters along route # Maximum depth: 543.129594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.129594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.898004; longitude = -118.685935; captureRadius = 10; duration = 53; initialDepth = 503.715912; finalDepth = 503.129594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.129594 # Seafloor depth:-543.129594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 53.687574 meters # Minimum depth: 543.715912 meters looking forward 0.000000 meters along route # Maximum depth: 543.715912 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.715912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.898287; longitude = -118.685503; captureRadius = 10; duration = 53; initialDepth = 505.048701; finalDepth = 503.715912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.715912 # Seafloor depth:-543.715912 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 53.687574 meters # Minimum depth: 545.048701 meters looking forward 0.000000 meters along route # Maximum depth: 545.048701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.048701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.898570; longitude = -118.685071; captureRadius = 10; duration = 53; initialDepth = 503.739353; finalDepth = 505.048701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:505.048701 # Seafloor depth:-545.048701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 53.687574 meters # Minimum depth: 543.739353 meters looking forward 0.000000 meters along route # Maximum depth: 543.739353 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.739353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.898854; longitude = -118.684639; captureRadius = 10; duration = 53; initialDepth = 501.377584; finalDepth = 503.739353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:503.739353 # Seafloor depth:-543.739353 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 53.687574 meters # Minimum depth: 541.377584 meters looking forward 0.000000 meters along route # Maximum depth: 541.377584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.377584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.899137; longitude = -118.684207; captureRadius = 10; duration = 53; initialDepth = 500.716445; finalDepth = 501.377584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:501.377584 # Seafloor depth:-541.377584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 53.687574 meters # Minimum depth: 540.716445 meters looking forward 0.000000 meters along route # Maximum depth: 540.716445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.716445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.899421; longitude = -118.683775; captureRadius = 10; duration = 53; initialDepth = 496.660522; finalDepth = 500.716445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:500.716445 # Seafloor depth:-540.716445 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 53.687574 meters # Minimum depth: 536.660522 meters looking forward 0.000000 meters along route # Maximum depth: 536.660522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.660522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.899751; longitude = -118.683271; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 496.142790; finalDepth = 496.660522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:496.660522 # Seafloor depth:-536.660522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 53.687574 meters # Minimum depth: 536.142790 meters looking forward 0.000000 meters along route # Maximum depth: 536.142790 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.142790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.899782; longitude = -118.683235; captureRadius = 10; duration = 53; initialDepth = 493.716330; finalDepth = 496.142790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:496.14279 # Seafloor depth:-536.142790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 53.687574 meters # Minimum depth: 533.716330 meters looking forward 0.000000 meters along route # Maximum depth: 533.716330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 493.716330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.900156; longitude = -118.682803; captureRadius = 10; duration = 53; initialDepth = 491.690838; finalDepth = 493.716330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:493.71633 # Seafloor depth:-533.716330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 53.687574 meters # Minimum depth: 531.690838 meters looking forward 0.000000 meters along route # Maximum depth: 531.690838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.690838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.900530; longitude = -118.682370; captureRadius = 10; duration = 53; initialDepth = 488.976566; finalDepth = 491.690838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:491.690838 # Seafloor depth:-531.690838 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 53.687574 meters # Minimum depth: 528.976566 meters looking forward 0.000000 meters along route # Maximum depth: 528.976566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.976566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.900864; longitude = -118.681985; captureRadius = 10; duration = 53; initialDepth = 482.912700; finalDepth = 488.976566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:488.976566 # Seafloor depth:-528.976566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 53.687574 meters # Minimum depth: 522.912700 meters looking forward 0.000000 meters along route # Maximum depth: 522.912700 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.912700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.901224; longitude = -118.681568; captureRadius = 10; duration = 53; initialDepth = 478.781619; finalDepth = 482.912700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:482.9127 # Seafloor depth:-522.912700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 53.687574 meters # Minimum depth: 518.781619 meters looking forward 0.000000 meters along route # Maximum depth: 518.781619 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.781619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.901585; longitude = -118.681151; captureRadius = 10; duration = 53; initialDepth = 474.311707; finalDepth = 478.781619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:478.781619 # Seafloor depth:-518.781619 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 53.687574 meters # Minimum depth: 514.311707 meters looking forward 0.000000 meters along route # Maximum depth: 514.311707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 474.311707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.901946; longitude = -118.680734; captureRadius = 10; duration = 53; initialDepth = 472.312836; finalDepth = 474.311707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:474.311707 # Seafloor depth:-514.311707 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 53.687574 meters # Minimum depth: 512.312836 meters looking forward 0.000000 meters along route # Maximum depth: 512.312836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.312836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.902337; longitude = -118.680282; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 469.278081; finalDepth = 472.312836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:472.312836 # Seafloor depth:-512.312836 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 53.687574 meters # Minimum depth: 509.278081 meters looking forward 0.000000 meters along route # Maximum depth: 509.278081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 469.278081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.902534; longitude = -118.679886; captureRadius = 10; duration = 53; initialDepth = 468.067940; finalDepth = 469.278081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:469.278081 # Seafloor depth:-509.278081 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 53.687574 meters # Minimum depth: 508.067940 meters looking forward 0.000000 meters along route # Maximum depth: 508.067940 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 468.067940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.902802; longitude = -118.679346; captureRadius = 10; duration = 53; initialDepth = 467.032207; finalDepth = 468.067940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:468.06794 # Seafloor depth:-508.067940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 53.687574 meters # Minimum depth: 507.032207 meters looking forward 0.000000 meters along route # Maximum depth: 507.032207 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.032207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.903070; longitude = -118.678806; captureRadius = 10; duration = 53; initialDepth = 462.782461; finalDepth = 467.032207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:467.032207 # Seafloor depth:-507.032207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 53.687574 meters # Minimum depth: 502.782461 meters looking forward 0.000000 meters along route # Maximum depth: 502.782461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.782461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.903338; longitude = -118.678265; captureRadius = 10; duration = 53; initialDepth = 461.358713; finalDepth = 462.782461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:462.782461 # Seafloor depth:-502.782461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 53.687574 meters # Minimum depth: 501.358713 meters looking forward 0.000000 meters along route # Maximum depth: 501.358713 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 461.358713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.903606; longitude = -118.677725; captureRadius = 10; duration = 53; initialDepth = 460.800323; finalDepth = 461.358713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:461.358713 # Seafloor depth:-501.358713 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 53.687574 meters # Minimum depth: 500.800323 meters looking forward 0.000000 meters along route # Maximum depth: 500.800323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.800323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.903840; longitude = -118.677255; captureRadius = 10; duration = 53; initialDepth = 458.406282; finalDepth = 460.800323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:460.800323 # Seafloor depth:-500.800323 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 53.687574 meters # Minimum depth: 498.406282 meters looking forward 0.000000 meters along route # Maximum depth: 498.406282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.406282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.904089; longitude = -118.676753; captureRadius = 10; duration = 53; initialDepth = 458.224815; finalDepth = 458.406282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.406282 # Seafloor depth:-498.406282 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 53.687574 meters # Minimum depth: 498.224815 meters looking forward 0.000000 meters along route # Maximum depth: 498.224815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.224815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.904321; longitude = -118.676285; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 457.555201; finalDepth = 458.224815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.224815 # Seafloor depth:-498.224815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 53.687574 meters # Minimum depth: 497.555201 meters looking forward 0.000000 meters along route # Maximum depth: 497.555201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.555201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.904333; longitude = -118.676213; captureRadius = 10; duration = 53; initialDepth = 457.790153; finalDepth = 457.555201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.555201 # Seafloor depth:-497.555201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 53.687574 meters # Minimum depth: 497.790153 meters looking forward 0.000000 meters along route # Maximum depth: 497.790153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.790153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.904424; longitude = -118.675673; captureRadius = 10; duration = 53; initialDepth = 460.605395; finalDepth = 457.790153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.790153 # Seafloor depth:-497.790153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 53.687574 meters # Minimum depth: 500.605395 meters looking forward 0.000000 meters along route # Maximum depth: 500.605395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.605395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.904515; longitude = -118.675133; captureRadius = 10; duration = 53; initialDepth = 461.163771; finalDepth = 460.605395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:460.605395 # Seafloor depth:-500.605395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 53.687574 meters # Minimum depth: 501.163771 meters looking forward 0.000000 meters along route # Maximum depth: 501.163771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 461.163771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.904607; longitude = -118.674592; captureRadius = 10; duration = 53; initialDepth = 462.215318; finalDepth = 461.163771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:461.163771 # Seafloor depth:-501.163771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 53.687574 meters # Minimum depth: 502.215318 meters looking forward 0.000000 meters along route # Maximum depth: 502.215318 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.215318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.904698; longitude = -118.674052; captureRadius = 10; duration = 53; initialDepth = 460.380127; finalDepth = 462.215318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:462.215318 # Seafloor depth:-502.215318 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 53.687574 meters # Minimum depth: 500.380127 meters looking forward 0.000000 meters along route # Maximum depth: 500.380127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.380127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.904789; longitude = -118.673512; captureRadius = 10; duration = 53; initialDepth = 457.809860; finalDepth = 460.380127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:460.380127 # Seafloor depth:-500.380127 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 53.687574 meters # Minimum depth: 497.809860 meters looking forward 0.000000 meters along route # Maximum depth: 497.809860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 457.809860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.904892; longitude = -118.672900; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 458.336976; finalDepth = 457.809860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:457.80986 # Seafloor depth:-497.809860 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 53.687574 meters # Minimum depth: 498.336976 meters looking forward 0.000000 meters along route # Maximum depth: 498.336976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.336976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.904984; longitude = -118.672756; captureRadius = 10; duration = 53; initialDepth = 456.631624; finalDepth = 458.336976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:458.336976 # Seafloor depth:-498.336976 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 53.687574 meters # Minimum depth: 496.631624 meters looking forward 0.000000 meters along route # Maximum depth: 496.631624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.631624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.905261; longitude = -118.672324; captureRadius = 10; duration = 53; initialDepth = 453.057057; finalDepth = 456.631624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:456.631624 # Seafloor depth:-496.631624 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 53.687574 meters # Minimum depth: 493.057057 meters looking forward 0.000000 meters along route # Maximum depth: 493.057057 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.057057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.905537; longitude = -118.671892; captureRadius = 10; duration = 53; initialDepth = 451.209047; finalDepth = 453.057057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.057057 # Seafloor depth:-493.057057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 53.687574 meters # Minimum depth: 491.209047 meters looking forward 0.000000 meters along route # Maximum depth: 491.209047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 451.209047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.905814; longitude = -118.671460; captureRadius = 10; duration = 53; initialDepth = 453.394463; finalDepth = 451.209047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:451.209047 # Seafloor depth:-491.209047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 53.687574 meters # Minimum depth: 493.394463 meters looking forward 0.000000 meters along route # Maximum depth: 493.394463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.394463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.906090; longitude = -118.671028; captureRadius = 10; duration = 53; initialDepth = 454.944784; finalDepth = 453.394463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:453.394463 # Seafloor depth:-493.394463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 53.687574 meters # Minimum depth: 494.944784 meters looking forward 0.000000 meters along route # Maximum depth: 494.944784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.944784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.906367; longitude = -118.670595; captureRadius = 10; duration = 53; initialDepth = 452.925208; finalDepth = 454.944784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:454.944784 # Seafloor depth:-494.944784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 53.687574 meters # Minimum depth: 492.925208 meters looking forward 0.000000 meters along route # Maximum depth: 492.925208 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 452.925208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.906643; longitude = -118.670163; captureRadius = 10; duration = 53; initialDepth = 450.539246; finalDepth = 452.925208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:452.925208 # Seafloor depth:-492.925208 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 53.687574 meters # Minimum depth: 490.539246 meters looking forward 0.000000 meters along route # Maximum depth: 490.539246 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 450.539246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.906966; longitude = -118.669659; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 448.207865; finalDepth = 450.539246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:450.539246 # Seafloor depth:-490.539246 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 53.687574 meters # Minimum depth: 488.207865 meters looking forward 0.000000 meters along route # Maximum depth: 488.207865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 448.207865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.907126; longitude = -118.669407; captureRadius = 10; duration = 53; initialDepth = 446.818316; finalDepth = 448.207865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:448.207865 # Seafloor depth:-488.207865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 53.687574 meters # Minimum depth: 486.818316 meters looking forward 0.000000 meters along route # Maximum depth: 486.818316 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 446.818316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.907400; longitude = -118.668975; captureRadius = 10; duration = 53; initialDepth = 444.368192; finalDepth = 446.818316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:446.818316 # Seafloor depth:-486.818316 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 53.687574 meters # Minimum depth: 484.368192 meters looking forward 0.000000 meters along route # Maximum depth: 484.368192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 444.368192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.907674; longitude = -118.668543; captureRadius = 10; duration = 53; initialDepth = 445.628787; finalDepth = 444.368192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:444.368192 # Seafloor depth:-484.368192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 53.687574 meters # Minimum depth: 485.628787 meters looking forward 0.000000 meters along route # Maximum depth: 485.628787 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.628787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.907948; longitude = -118.668111; captureRadius = 10; duration = 53; initialDepth = 443.108736; finalDepth = 445.628787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:445.628787 # Seafloor depth:-485.628787 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 53.687574 meters # Minimum depth: 483.108736 meters looking forward 0.000000 meters along route # Maximum depth: 483.108736 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.108736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.908222; longitude = -118.667679; captureRadius = 10; duration = 53; initialDepth = 442.978144; finalDepth = 443.108736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:443.108736 # Seafloor depth:-483.108736 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 53.687574 meters # Minimum depth: 482.978144 meters looking forward 0.000000 meters along route # Maximum depth: 482.978144 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.978144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.908496; longitude = -118.667247; captureRadius = 10; duration = 53; initialDepth = 440.370874; finalDepth = 442.978144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:442.978144 # Seafloor depth:-482.978144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 53.687574 meters # Minimum depth: 480.370874 meters looking forward 0.000000 meters along route # Maximum depth: 480.370874 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.370874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.908771; longitude = -118.666815; captureRadius = 10; duration = 53; initialDepth = 442.313385; finalDepth = 440.370874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:440.370874 # Seafloor depth:-480.370874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 53.687574 meters # Minimum depth: 482.313385 meters looking forward 0.000000 meters along route # Maximum depth: 482.313385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.313385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.909045; longitude = -118.666382; captureRadius = 10; duration = 53; initialDepth = 444.882452; finalDepth = 442.313385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:442.313385 # Seafloor depth:-482.313385 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 53.687574 meters # Minimum depth: 484.882452 meters looking forward 0.000000 meters along route # Maximum depth: 484.882452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 444.882452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.909319; longitude = -118.665950; captureRadius = 10; duration = 53; initialDepth = 439.223882; finalDepth = 444.882452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:444.882452 # Seafloor depth:-484.882452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 53.687574 meters # Minimum depth: 479.223882 meters looking forward 0.000000 meters along route # Maximum depth: 479.223882 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 439.223882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.909593; longitude = -118.665518; captureRadius = 10; duration = 53; initialDepth = 434.454479; finalDepth = 439.223882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:439.223882 # Seafloor depth:-479.223882 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 53.687574 meters # Minimum depth: 474.454479 meters looking forward 0.000000 meters along route # Maximum depth: 474.454479 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.454479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.909867; longitude = -118.665086; captureRadius = 10; duration = 53; initialDepth = 431.970374; finalDepth = 434.454479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:434.454479 # Seafloor depth:-474.454479 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 53.687574 meters # Minimum depth: 471.970374 meters looking forward 0.000000 meters along route # Maximum depth: 471.970374 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 431.970374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.910141; longitude = -118.664654; captureRadius = 10; duration = 53; initialDepth = 428.780753; finalDepth = 431.970374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:431.970374 # Seafloor depth:-471.970374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 53.687574 meters # Minimum depth: 468.780753 meters looking forward 0.000000 meters along route # Maximum depth: 468.780753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 428.780753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.910415; longitude = -118.664222; captureRadius = 10; duration = 53; initialDepth = 425.641905; finalDepth = 428.780753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:428.780753 # Seafloor depth:-468.780753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 53.687574 meters # Minimum depth: 465.641905 meters looking forward 0.000000 meters along route # Maximum depth: 465.641905 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 425.641905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.910689; longitude = -118.663790; captureRadius = 10; duration = 53; initialDepth = 423.208247; finalDepth = 425.641905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:425.641905 # Seafloor depth:-465.641905 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 53.687574 meters # Minimum depth: 463.208247 meters looking forward 0.000000 meters along route # Maximum depth: 463.208247 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 423.208247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.910964; longitude = -118.663357; captureRadius = 10; duration = 53; initialDepth = 421.647736; finalDepth = 423.208247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:423.208247 # Seafloor depth:-463.208247 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 53.687574 meters # Minimum depth: 461.647736 meters looking forward 0.000000 meters along route # Maximum depth: 461.647736 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 421.647736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.911238; longitude = -118.662926; captureRadius = 10; duration = 53; initialDepth = 418.777684; finalDepth = 421.647736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:421.647736 # Seafloor depth:-461.647736 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 53.687574 meters # Minimum depth: 458.777684 meters looking forward 0.000000 meters along route # Maximum depth: 458.777684 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.777684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.911512; longitude = -118.662493; captureRadius = 10; duration = 53; initialDepth = 418.409311; finalDepth = 418.777684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:418.777684 # Seafloor depth:-458.777684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 53.687574 meters # Minimum depth: 458.409311 meters looking forward 0.000000 meters along route # Maximum depth: 458.409311 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.409311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.911786; longitude = -118.662061; captureRadius = 10; duration = 53; initialDepth = 418.420975; finalDepth = 418.409311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:418.409311 # Seafloor depth:-458.409311 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 53.687574 meters # Minimum depth: 458.420975 meters looking forward 0.000000 meters along route # Maximum depth: 458.420975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.420975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.912106; longitude = -118.661557; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 419.508404; finalDepth = 418.420975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:418.420975 # Seafloor depth:-458.420975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 53.687574 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: 700.000000 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 = 53; # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 53.687574 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: 700.000000 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 = 53; initialDepth = 422.465494; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 53.687574 meters # Minimum depth: 462.465494 meters looking forward 0.000000 meters along route # Maximum depth: 462.465494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 422.465494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.917150; longitude = -118.652123; captureRadius = 10; duration = 53; initialDepth = 420.425328; finalDepth = 422.465494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:422.465494 # Seafloor depth:-462.465494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 53.687574 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: 700.000000 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 = 53; # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 53.687574 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: 700.000000 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 = 53; initialDepth = 377.058156; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 53.687574 meters # Minimum depth: 417.058156 meters looking forward 0.000000 meters along route # Maximum depth: 417.058156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.058156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.920910; longitude = -118.644237; captureRadius = 10; duration = 53; initialDepth = 377.757806; finalDepth = 377.058156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:377.058156 # Seafloor depth:-417.058156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 53.687574 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: 700.000000 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 = 53; # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 53.687574 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: 700.000000 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 = 53; # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 53.687574 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: 700.000000 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 = 53; initialDepth = 360.579856; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 53.687574 meters # Minimum depth: 400.579856 meters looking forward 0.000000 meters along route # Maximum depth: 400.579856 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 360.579856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.926948; longitude = -118.626413; captureRadius = 10; duration = 53; initialDepth = 358.373284; finalDepth = 360.579856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:360.579856 # Seafloor depth:-400.579856 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 53.687574 meters # Minimum depth: 398.373284 meters looking forward 0.000000 meters along route # Maximum depth: 398.373284 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 358.373284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.927009; longitude = -118.625872; captureRadius = 10; duration = 53; initialDepth = 355.826496; finalDepth = 358.373284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:358.373284 # Seafloor depth:-398.373284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 53.687574 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: 700.000000 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 = 53; initialDepth = 352.972725; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 53.687574 meters # Minimum depth: 392.972725 meters looking forward 0.000000 meters along route # Maximum depth: 392.972725 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 352.972725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.927136; longitude = -118.624756; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 351.738050; finalDepth = 352.972725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:352.972725 # Seafloor depth:-392.972725 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 53.687574 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: 700.000000 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 = 53; # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 53.687574 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: 700.000000 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 = 53; initialDepth = 326.450010; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 53.687574 meters # Minimum depth: 366.450010 meters looking forward 0.000000 meters along route # Maximum depth: 366.450010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 326.450010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.927129; longitude = -118.619067; captureRadius = 10; duration = 53; initialDepth = 323.969052; finalDepth = 326.450010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:326.45001 # Seafloor depth:-366.450010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 53.687574 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: 700.000000 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 = 53; # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 53.687574 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: 700.000000 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 = 53; initialDepth = 309.109077; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 53.687574 meters # Minimum depth: 349.109077 meters looking forward 0.000000 meters along route # Maximum depth: 349.109077 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 309.109077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.925965; longitude = -118.614206; captureRadius = 10; duration = 53; initialDepth = 308.588867; finalDepth = 309.109077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:309.109077 # Seafloor depth:-349.109077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 53.687574 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: 700.000000 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 = 53; initialDepth = 300.638079; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 53.687574 meters # Minimum depth: 340.638079 meters looking forward 0.000000 meters along route # Maximum depth: 340.638079 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.638079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.924920; longitude = -118.610965; captureRadius = 10; duration = 53; initialDepth = 299.506885; finalDepth = 300.638079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:300.638079 # Seafloor depth:-340.638079 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 53.687574 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: 700.000000 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 = 53; # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 53.687574 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: 700.000000 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 = 53; initialDepth = 289.125886; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 53.687574 meters # Minimum depth: 329.125886 meters looking forward 0.000000 meters along route # Maximum depth: 329.125886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 289.125886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.922823; longitude = -118.604159; captureRadius = 10; duration = 53; initialDepth = 290.907266; finalDepth = 289.125886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:289.125886 # Seafloor depth:-329.125886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 53.687574 meters # Minimum depth: 330.907266 meters looking forward 0.000000 meters along route # Maximum depth: 330.907266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 290.907266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.922687; longitude = -118.603619; captureRadius = 10; duration = 53; initialDepth = 287.634478; finalDepth = 290.907266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:290.907266 # Seafloor depth:-330.907266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 53.687574 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: 700.000000 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 = 53; # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 53.687574 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: 700.000000 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 = 53; initialDepth = 275.294479; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 53.687574 meters # Minimum depth: 315.294479 meters looking forward 0.000000 meters along route # Maximum depth: 315.294479 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 275.294479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.921241; longitude = -118.596813; captureRadius = 10; duration = 53; initialDepth = 273.365820; finalDepth = 275.294479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:275.294479 # Seafloor depth:-315.294479 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 53.687574 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: 700.000000 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 = 53; # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 53.687574 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: 700.000000 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 = 53; # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 53.687574 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: 700.000000 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 = 53; # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 53.687574 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: 700.000000 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 = 53; # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.687574 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: 700.000000 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 = 53; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 53.687574 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: 700.000000 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 = 53; # abortOnTimeout = True; initialDepth = 115.195568; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 53.687574 meters # Minimum depth: 155.195568 meters looking forward 0.000000 meters along route # Maximum depth: 155.195568 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.195568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.925053; longitude = -118.558572; captureRadius = 10; duration = 53; initialDepth = 117.636110; finalDepth = 115.195568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:115.195568 # Seafloor depth:-155.195568 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 53.687574 meters # Minimum depth: 157.636110 meters looking forward 0.000000 meters along route # Maximum depth: 157.636110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 117.636110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.925393; longitude = -118.558195; captureRadius = 10; duration = 53; initialDepth = 117.188797; finalDepth = 117.636110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:117.63611 # Seafloor depth:-157.636110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 53.687574 meters # Minimum depth: 157.188797 meters looking forward 0.000000 meters along route # Maximum depth: 157.188797 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 117.188797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.925754; longitude = -118.557797; captureRadius = 10; duration = 53; initialDepth = 116.722020; finalDepth = 117.188797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:117.188797 # Seafloor depth:-157.188797 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 53.687574 meters # Minimum depth: 156.722020 meters looking forward 0.000000 meters along route # Maximum depth: 156.722020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.722020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.926127; longitude = -118.557384; captureRadius = 10; duration = 53; initialDepth = 113.523924; finalDepth = 116.722020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:116.72202 # Seafloor depth:-156.722020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 53.687574 meters # Minimum depth: 153.523924 meters looking forward 0.000000 meters along route # Maximum depth: 153.523924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.523924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.926475; longitude = -118.556999; captureRadius = 10; duration = 53; initialDepth = 111.433418; finalDepth = 113.523924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:113.523924 # Seafloor depth:-153.523924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 53.687574 meters # Minimum depth: 151.433418 meters looking forward 0.000000 meters along route # Maximum depth: 151.433418 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.433418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.926836; longitude = -118.556600; captureRadius = 10; duration = 53; initialDepth = 109.791076; finalDepth = 111.433418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:111.433418 # Seafloor depth:-151.433418 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 53.687574 meters # Minimum depth: 149.791076 meters looking forward 0.000000 meters along route # Maximum depth: 149.791076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.791076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.927202; longitude = -118.556195; captureRadius = 10; duration = 53; initialDepth = 110.938435; finalDepth = 109.791076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:109.791076 # Seafloor depth:-149.791076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 53.687574 meters # Minimum depth: 150.938435 meters looking forward 0.000000 meters along route # Maximum depth: 150.938435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.938435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.927557; longitude = -118.555802; captureRadius = 10; duration = 53; initialDepth = 113.551276; finalDepth = 110.938435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:110.938435 # Seafloor depth:-150.938435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 53.687574 meters # Minimum depth: 153.551276 meters looking forward 0.000000 meters along route # Maximum depth: 153.551276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.551276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.927918; longitude = -118.555403; captureRadius = 10; duration = 53; initialDepth = 114.326681; finalDepth = 113.551276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:113.551276 # Seafloor depth:-153.551276 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 53.687574 meters # Minimum depth: 154.326681 meters looking forward 0.000000 meters along route # Maximum depth: 154.326681 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 114.326681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.928309; longitude = -118.554971; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 110.406929; finalDepth = 114.326681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:114.326681 # Seafloor depth:-154.326681 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 53.687574 meters # Minimum depth: 150.406929 meters looking forward 0.000000 meters along route # Maximum depth: 150.406929 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.406929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.928424; longitude = -118.554575; captureRadius = 10; duration = 53; initialDepth = 105.413969; finalDepth = 110.406929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:110.406929 # Seafloor depth:-150.406929 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 53.687574 meters # Minimum depth: 145.413969 meters looking forward 0.000000 meters along route # Maximum depth: 145.413969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 105.413969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.928581; longitude = -118.554035; captureRadius = 10; duration = 53; initialDepth = 100.419120; finalDepth = 105.413969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:105.413969 # Seafloor depth:-145.413969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 53.687574 meters # Minimum depth: 140.419120 meters looking forward 0.000000 meters along route # Maximum depth: 140.419120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.419120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.928737; longitude = -118.553495; captureRadius = 10; duration = 53; initialDepth = 94.162572; finalDepth = 100.419120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:100.41912 # Seafloor depth:-140.419120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 53.687574 meters # Minimum depth: 134.162572 meters looking forward 0.000000 meters along route # Maximum depth: 134.162572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 94.162572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.928894; longitude = -118.552954; captureRadius = 10; duration = 53; initialDepth = 91.843131; finalDepth = 94.162572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:94.162572 # Seafloor depth:-134.162572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 53.687574 meters # Minimum depth: 131.843131 meters looking forward 0.000000 meters along route # Maximum depth: 131.843131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 91.843131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.929051; longitude = -118.552414; captureRadius = 10; duration = 53; initialDepth = 89.780954; finalDepth = 91.843131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:91.843131 # Seafloor depth:-131.843131 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 53.687574 meters # Minimum depth: 129.780954 meters looking forward 0.000000 meters along route # Maximum depth: 129.780954 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 89.780954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.929208; longitude = -118.551874; captureRadius = 10; duration = 53; initialDepth = 86.589214; finalDepth = 89.780954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:89.780954 # Seafloor depth:-129.780954 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 53.687574 meters # Minimum depth: 126.589214 meters looking forward 0.000000 meters along route # Maximum depth: 126.589214 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 86.589214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.929361; longitude = -118.551348; captureRadius = 10; duration = 53; initialDepth = 82.596649; finalDepth = 86.589214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:86.589214 # Seafloor depth:-126.589214 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 53.687574 meters # Minimum depth: 122.596649 meters looking forward 0.000000 meters along route # Maximum depth: 122.596649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.596649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.929511; longitude = -118.550830; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 81.802729; finalDepth = 82.596649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:82.596649 # Seafloor depth:-122.596649 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 53.687574 meters # Minimum depth: 121.802729 meters looking forward 0.000000 meters along route # Maximum depth: 121.802729 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.802729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.929548; longitude = -118.550794; captureRadius = 10; duration = 53; initialDepth = 76.790682; finalDepth = 81.802729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:81.802729 # Seafloor depth:-121.802729 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 53.687574 meters # Minimum depth: 116.790682 meters looking forward 0.000000 meters along route # Maximum depth: 116.790682 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.790682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.929902; longitude = -118.550444; captureRadius = 10; duration = 53; initialDepth = 77.454998; finalDepth = 76.790682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:76.790682 # Seafloor depth:-116.790682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 53.687574 meters # Minimum depth: 117.454998 meters looking forward 0.000000 meters along route # Maximum depth: 117.454998 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.454998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.930263; longitude = -118.550089; captureRadius = 10; duration = 53; initialDepth = 75.304662; finalDepth = 77.454998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:77.454998 # Seafloor depth:-117.454998 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 53.687574 meters # Minimum depth: 115.304662 meters looking forward 0.000000 meters along route # Maximum depth: 115.304662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.304662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.930643; longitude = -118.549714; captureRadius = 10; duration = 53; initialDepth = 69.949320; finalDepth = 75.304662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:75.304662 # Seafloor depth:-115.304662 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 53.687574 meters # Minimum depth: 109.949320 meters looking forward 0.000000 meters along route # Maximum depth: 109.949320 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.949320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.931044; longitude = -118.549318; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 69.845369; finalDepth = 69.949320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:69.94932 # Seafloor depth:-109.949320 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 53.687574 meters # Minimum depth: 109.845369 meters looking forward 0.000000 meters along route # Maximum depth: 109.845369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.845369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.931074; longitude = -118.549307; captureRadius = 10; duration = 53; initialDepth = 66.489549; finalDepth = 69.845369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:69.845369 # Seafloor depth:-109.845369 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 53.687574 meters # Minimum depth: 106.489549 meters looking forward 0.000000 meters along route # Maximum depth: 106.489549 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.489549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.931525; longitude = -118.549145; captureRadius = 10; duration = 53; initialDepth = 63.907909; finalDepth = 66.489549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.489549 # Seafloor depth:-106.489549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 53.687574 meters # Minimum depth: 103.907909 meters looking forward 0.000000 meters along route # Maximum depth: 103.907909 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.907909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.931976; longitude = -118.548984; captureRadius = 10; duration = 53; initialDepth = 61.100701; finalDepth = 63.907909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.907909 # Seafloor depth:-103.907909 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 53.687574 meters # Minimum depth: 101.100701 meters looking forward 0.000000 meters along route # Maximum depth: 101.100701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.100701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.932427; longitude = -118.548822; captureRadius = 10; duration = 53; initialDepth = 58.944103; finalDepth = 61.100701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.100701 # Seafloor depth:-101.100701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 53.687574 meters # Minimum depth: 98.944103 meters looking forward 0.000000 meters along route # Maximum depth: 98.944103 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.944103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.932878; longitude = -118.548661; captureRadius = 10; duration = 53; initialDepth = 55.754612; finalDepth = 58.944103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.944103 # Seafloor depth:-98.944103 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 53.687574 meters # Minimum depth: 95.754612 meters looking forward 0.000000 meters along route # Maximum depth: 95.754612 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.754612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.933329; longitude = -118.548499; captureRadius = 10; duration = 53; initialDepth = 51.956836; finalDepth = 55.754612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.754612 # Seafloor depth:-95.754612 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 53.687574 meters # Minimum depth: 91.956836 meters looking forward 0.000000 meters along route # Maximum depth: 91.956836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.956836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.933780; longitude = -118.548338; captureRadius = 10; duration = 53; initialDepth = 50.081584; finalDepth = 51.956836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:51.956836 # Seafloor depth:-91.956836 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 53.687574 meters # Minimum depth: 90.081584 meters looking forward 0.000000 meters along route # Maximum depth: 90.081584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.081584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.934261; longitude = -118.548165; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 49.888771; finalDepth = 50.081584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:50.081584 # Seafloor depth:-90.081584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 53.687574 meters # Minimum depth: 89.888771 meters looking forward 0.000000 meters along route # Maximum depth: 89.888771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.888771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.934411; longitude = -118.548057; captureRadius = 10; duration = 53; initialDepth = 49.578112; finalDepth = 49.888771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:49.888771 # Seafloor depth:-89.888771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 53.687574 meters # Minimum depth: 89.578112 meters looking forward 0.000000 meters along route # Maximum depth: 89.578112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.578112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.934862; longitude = -118.547733; captureRadius = 10; duration = 53; initialDepth = 46.836489; finalDepth = 49.578112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:49.578112 # Seafloor depth:-89.578112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 53.687574 meters # Minimum depth: 86.836489 meters looking forward 0.000000 meters along route # Maximum depth: 86.836489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.836489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.935263; longitude = -118.547445; captureRadius = 10; duration = 53; initialDepth = 43.130517; finalDepth = 46.836489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:46.836489 # Seafloor depth:-86.836489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 53.687574 meters # Minimum depth: 83.130517 meters looking forward 0.000000 meters along route # Maximum depth: 83.130517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 43.130517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.935674; longitude = -118.547150; captureRadius = 10; duration = 53; initialDepth = 41.178853; finalDepth = 43.130517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:43.130517 # Seafloor depth:-83.130517 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 53.687574 meters # Minimum depth: 81.178853 meters looking forward 0.000000 meters along route # Maximum depth: 81.178853 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 41.178853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.936064; longitude = -118.546869; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 40.847598; finalDepth = 41.178853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:41.178853 # Seafloor depth:-81.178853 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 53.687574 meters # Minimum depth: 80.847598 meters looking forward 0.000000 meters along route # Maximum depth: 80.847598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 40.847598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.936485; longitude = -118.546927; captureRadius = 10; duration = 53; initialDepth = 39.742223; finalDepth = 40.847598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:40.847598 # Seafloor depth:-80.847598 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 53.687574 meters # Minimum depth: 79.742223 meters looking forward 0.000000 meters along route # Maximum depth: 79.742223 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 39.742223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.936936; longitude = -118.546988; captureRadius = 10; duration = 53; initialDepth = 37.689338; finalDepth = 39.742223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:39.742223 # Seafloor depth:-79.742223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 53.687574 meters # Minimum depth: 77.689338 meters looking forward 0.000000 meters along route # Maximum depth: 77.689338 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 37.689338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.937387; longitude = -118.547050; captureRadius = 10; duration = 53; initialDepth = 35.852197; finalDepth = 37.689338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:37.689338 # Seafloor depth:-77.689338 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 53.687574 meters # Minimum depth: 75.852197 meters looking forward 0.000000 meters along route # Maximum depth: 75.852197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 35.852197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.937838; longitude = -118.547112; captureRadius = 10; duration = 53; initialDepth = 33.575448; finalDepth = 35.852197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:35.852197 # Seafloor depth:-75.852197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 53.687574 meters # Minimum depth: 73.575448 meters looking forward 0.000000 meters along route # Maximum depth: 73.575448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 33.575448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.938289; longitude = -118.547173; captureRadius = 10; duration = 53; initialDepth = 31.208597; finalDepth = 33.575448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:33.575448 # Seafloor depth:-73.575448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 53.687574 meters # Minimum depth: 71.208597 meters looking forward 0.000000 meters along route # Maximum depth: 71.208597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 31.208597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.938740; longitude = -118.547235; captureRadius = 10; duration = 53; initialDepth = 29.021810; finalDepth = 31.208597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:31.208597 # Seafloor depth:-71.208597 # 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 40 # Sonar parameter altitude: 50 # Commanded vehicle depth:29.02181 # Seafloor depth:-69.021810 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 337.5; MB_Power = 220; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 53.687574 meters # Minimum depth: 69.021810 meters looking forward 0.000000 meters along route # Maximum depth: 69.021810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 700.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 29.021810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.939221; longitude = -118.547301; captureRadius = 10; duration = 600; initialDepth = 29.021810; finalDepth = 29.021810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 10.0; 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 = 10.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 5; 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 = 70; 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; } # ####################################################### #######################################################