# 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: 2010_LaJolla_2v2.rte # Mission File: 2010_LaJolla_2v2.cfg # Distance: 84175.016898 (m) # Estimated Time: 57936 (s) 16.094 (hr) # Abort Time: 61875 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1124 (s) # Way Points: 44 # Route Points: 771 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 80 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.4 # Subbottom enabled # Low sidescan disabled # High sidescan disabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 966.236441 (m) # Abort Vehicle Depth: 991.236441 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 827.958267 m # Spiral descent altitude: 50 m # Forward Looking Distance: 100 (m) # Waypoint Spacing: 100 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -117.551640 32.840155 -887.958267 0.000000 3 # 1 -117.570574 32.815993 -941.130600 3211.815166 4 # 2 -117.581336 32.822004 -965.889816 4419.694987 3 # 3 -117.562404 32.846167 -942.739700 7631.439821 4 # 4 -117.574236 32.850817 -901.650986 8852.783932 3 # 5 -117.541944 32.832781 -898.103104 12476.427214 4 # 6 -117.542829 32.831653 -899.203461 12626.423230 3 # 7 -117.575120 32.849689 -904.039978 16250.020530 4 # 8 -117.576004 32.848560 -907.849747 16400.049581 3 # 9 -117.543714 32.830524 -900.450943 20023.600925 4 # 10 -117.544598 32.829396 -910.890060 20173.546424 3 # 11 -117.576889 32.847432 -899.685608 23797.207883 4 # 12 -117.577773 32.846303 -905.850006 23947.238085 3 # 13 -117.545483 32.828268 -920.410065 27570.792399 4 # 14 -117.546367 32.827139 -920.541580 27720.831513 3 # 15 -117.578657 32.845175 -908.098373 31344.479076 4 # 16 -117.579541 32.844046 -912.872971 31494.510428 3 # 17 -117.547251 32.826011 -905.008331 35118.128898 4 # 18 -117.548136 32.824883 -905.116653 35268.128365 3 # 19 -117.580425 32.842918 -914.491241 38891.700842 4 # 20 -117.581310 32.841789 -907.263214 39041.784969 3 # 21 -117.549020 32.823754 -905.013062 42665.467594 4 # 22 -117.549905 32.822626 -905.345520 42815.468213 3 # 23 -117.582194 32.840660 -917.933517 46439.043688 4 # 24 -117.583078 32.839532 -912.403488 46588.984870 3 # 25 -117.550789 32.821498 -909.128708 50212.592408 4 # 26 -117.551673 32.820369 -911.543869 50362.634965 3 # 27 -117.583962 32.838403 -914.934372 53986.274593 4 # 28 -117.584846 32.837275 -917.632507 54136.216926 3 # 29 -117.552558 32.819241 -910.916901 57759.810552 4 # 30 -117.553442 32.818113 -913.888870 57909.761793 3 # 31 -117.585730 32.836146 -918.973541 61533.326329 4 # 32 -117.586614 32.835018 -922.475647 61683.269813 3 # 33 -117.554326 32.816984 -917.825500 65306.927587 4 # 34 -117.555210 32.815856 -921.360962 65456.879978 3 # 35 -117.587498 32.833889 -922.717224 69080.508662 4 # 36 -117.588382 32.832760 -921.405350 69230.545767 3 # 37 -117.556095 32.814728 -918.829834 72854.067295 4 # 38 -117.556979 32.813599 -928.554703 73004.113296 3 # 39 -117.589266 32.831632 -922.472580 76627.728058 4 # 40 -117.590150 32.830503 -930.336487 76777.766313 3 # 41 -117.557863 32.812471 -930.255127 80401.351987 4 # 42 -117.558747 32.811342 -933.551300 80551.399137 3 # 43 -117.591034 32.829374 -937.081360 84175.016898 4 # # A total of 771 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 61200; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 966.236441; abortDepth = 991.236441; minAltitude = 50.000000; abortAltitude = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1124; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 43 # Segment length 89.328709 meters # Minimum depth: 936.707908 meters looking forward 100.000000 meters along route # Maximum depth: 938.001711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 886.707908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.829374; longitude = -117.591034; captureRadius = 10; duration = 178; # abortOnTimeout = True; initialDepth = 875.162652; finalDepth = 886.707908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.373452 # Actual altitude: 50.373452 # Commanded vehicle depth: 886.707908 # Seafloor depth: -937.081360 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.49; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 106.697804 meters # Minimum depth: 925.162652 meters looking forward 100.000000 meters along route # Maximum depth: 938.234797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 875.162652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828929; longitude = -117.590238; captureRadius = 10; duration = 213; initialDepth = 873.606363; finalDepth = 875.162652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.542905 # Actual altitude: 61.542905 # Commanded vehicle depth: 875.162652 # Seafloor depth: -936.705557 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 246.17; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.62; MB_Bottom_Detect_Filter_Max_Range = 246.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 246.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 107.262797 meters # Minimum depth: 923.606363 meters looking forward 100.000000 meters along route # Maximum depth: 925.094225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.606363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828398; longitude = -117.589287; captureRadius = 10; duration = 214; initialDepth = 875.136363; finalDepth = 873.606363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.542905 # Actual altitude: 61.542905 # Commanded vehicle depth: 873.606363 # Seafloor depth: -924.221210 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 246.17; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.62; MB_Bottom_Detect_Filter_Max_Range = 246.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 246.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 107.263227 meters # Minimum depth: 925.136363 meters looking forward 100.000000 meters along route # Maximum depth: 925.997325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 875.136363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.827865; longitude = -117.588331; captureRadius = 10; duration = 214; initialDepth = 874.855660; finalDepth = 875.136363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6148470000001 # Actual altitude: 50.6148470000001 # Commanded vehicle depth: 875.136363 # Seafloor depth: -925.227978 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 107.263658 meters # Minimum depth: 924.855660 meters looking forward 100.000000 meters along route # Maximum depth: 928.033280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 874.855660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.827331; longitude = -117.587376; captureRadius = 10; duration = 214; initialDepth = 876.048278; finalDepth = 874.855660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.091615 # Actual altitude: 50.091615 # Commanded vehicle depth: 874.85566 # Seafloor depth: -924.855660 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.37; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 200.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 110.662510 meters # Minimum depth: 926.048278 meters looking forward 100.000000 meters along route # Maximum depth: 928.078297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 876.048278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.826797; longitude = -117.586420; captureRadius = 10; duration = 221; initialDepth = 878.131588; finalDepth = 876.048278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.428486 # Actual altitude: 50.428486 # Commanded vehicle depth: 876.048278 # Seafloor depth: -926.476764 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.71; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 103.866097 meters # Minimum depth: 928.131588 meters looking forward 100.000000 meters along route # Maximum depth: 929.869135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 878.131588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.826246; longitude = -117.585434; captureRadius = 10; duration = 207; initialDepth = 880.029215; finalDepth = 878.131588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.428486 # Actual altitude: 50.428486 # Commanded vehicle depth: 878.131588 # Seafloor depth: -928.131588 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.71; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 107.264950 meters # Minimum depth: 930.029215 meters looking forward 100.000000 meters along route # Maximum depth: 932.534342 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 880.029215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.825729; longitude = -117.584508; captureRadius = 10; duration = 214; initialDepth = 882.648576; finalDepth = 880.029215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.273499 # Actual altitude: 50.273499 # Commanded vehicle depth: 880.029215 # Seafloor depth: -930.302714 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.09; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 201.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 107.265380 meters # Minimum depth: 932.648576 meters looking forward 100.000000 meters along route # Maximum depth: 941.357036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 882.648576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.825196; longitude = -117.583553; captureRadius = 10; duration = 214; initialDepth = 889.809914; finalDepth = 882.648576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.273499 # Actual altitude: 50.273499 # Commanded vehicle depth: 882.648576 # Seafloor depth: -932.648576 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.09; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 201.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 107.265811 meters # Minimum depth: 939.809914 meters looking forward 100.000000 meters along route # Maximum depth: 951.034304 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 889.809914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.824662; longitude = -117.582597; captureRadius = 10; duration = 214; initialDepth = 890.563205; finalDepth = 889.809914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5969219999999 # Actual altitude: 51.5969219999999 # Commanded vehicle depth: 889.809914 # Seafloor depth: -941.406836 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.39; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 113.498637 meters # Minimum depth: 940.563205 meters looking forward 100.000000 meters along route # Maximum depth: 968.963203 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 890.563205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.824128; longitude = -117.581641; captureRadius = 10; duration = 226; initialDepth = 918.408021; finalDepth = 890.563205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.9061509999999 # Actual altitude: 57.9061509999999 # Commanded vehicle depth: 890.563205 # Seafloor depth: -948.469356 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 231.62; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.16; MB_Bottom_Detect_Filter_Max_Range = 231.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 101.034277 meters # Minimum depth: 968.408021 meters looking forward 100.000000 meters along route # Maximum depth: 981.227772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.408021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.823563; longitude = -117.580630; captureRadius = 10; duration = 202; initialDepth = 932.521219; finalDepth = 918.408021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.9061509999999 # Actual altitude: 57.9061509999999 # Commanded vehicle depth: 918.408021 # Seafloor depth: -968.408021 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 231.62; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.16; MB_Bottom_Detect_Filter_Max_Range = 231.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 108.642335 meters # Minimum depth: 982.521219 meters looking forward 100.000000 meters along route # Maximum depth: 988.737533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.521219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.823060; longitude = -117.579729; captureRadius = 10; duration = 217; initialDepth = 928.486396; finalDepth = 932.521219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 932.521219 # Seafloor depth: -982.521219 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 105.892302 meters # Minimum depth: 978.486396 meters looking forward 100.000000 meters along route # Maximum depth: 988.536531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.486396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.822520; longitude = -117.578761; captureRadius = 10; duration = 211; initialDepth = 929.066315; finalDepth = 928.486396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.050135 # Actual altitude: 60.050135 # Commanded vehicle depth: 928.486396 # Seafloor depth: -988.536531 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 240.20; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.02; MB_Bottom_Detect_Filter_Max_Range = 240.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 107.267965 meters # Minimum depth: 979.066315 meters looking forward 100.000000 meters along route # Maximum depth: 981.316570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.066315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.821993; longitude = -117.577818; captureRadius = 10; duration = 214; initialDepth = 927.926562; finalDepth = 929.066315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.050135 # Actual altitude: 60.050135 # Commanded vehicle depth: 929.066315 # Seafloor depth: -979.066315 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 240.20; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.02; MB_Bottom_Detect_Filter_Max_Range = 240.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 107.268395 meters # Minimum depth: 977.926562 meters looking forward 100.000000 meters along route # Maximum depth: 980.257677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.926562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.821459; longitude = -117.576862; captureRadius = 10; duration = 214; initialDepth = 915.468179; finalDepth = 927.926562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.576954 # Actual altitude: 51.576954 # Commanded vehicle depth: 927.926562 # Seafloor depth: -979.503516 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.31; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 107.268826 meters # Minimum depth: 965.468179 meters looking forward 100.000000 meters along route # Maximum depth: 979.963299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.468179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.820925; longitude = -117.575906; captureRadius = 10; duration = 214; initialDepth = 894.612122; finalDepth = 915.468179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.49512 # Actual altitude: 64.49512 # Commanded vehicle depth: 915.468179 # Seafloor depth: -979.963299 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 257.98; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.80; MB_Bottom_Detect_Filter_Max_Range = 257.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 111.478501 meters # Minimum depth: 944.612122 meters looking forward 100.000000 meters along route # Maximum depth: 963.961681 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 894.612122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.820392; longitude = -117.574950; captureRadius = 10; duration = 222; initialDepth = 894.823684; finalDepth = 894.612122; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.349559 # Actual altitude: 69.349559 # Commanded vehicle depth: 894.612122 # Seafloor depth: -963.961681 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 277.40; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.74; MB_Bottom_Detect_Filter_Max_Range = 277.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 103.060443 meters # Minimum depth: 944.823684 meters looking forward 100.000000 meters along route # Maximum depth: 949.644261 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 894.823684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.819837; longitude = -117.573957; captureRadius = 10; duration = 206; initialDepth = 882.024887; finalDepth = 894.823684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.349559 # Actual altitude: 69.349559 # Commanded vehicle depth: 894.823684 # Seafloor depth: -944.823684 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 277.40; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.74; MB_Bottom_Detect_Filter_Max_Range = 277.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 107.270119 meters # Minimum depth: 932.024887 meters looking forward 100.000000 meters along route # Maximum depth: 946.046225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 882.024887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.819324; longitude = -117.573039; captureRadius = 10; duration = 214; initialDepth = 879.773220; finalDepth = 882.024887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.021338 # Actual altitude: 64.021338 # Commanded vehicle depth: 882.024887 # Seafloor depth: -946.046225 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 256.09; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.61; MB_Bottom_Detect_Filter_Max_Range = 256.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 107.270549 meters # Minimum depth: 929.773220 meters looking forward 100.000000 meters along route # Maximum depth: 931.911125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 879.773220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.818790; longitude = -117.572083; captureRadius = 10; duration = 214; initialDepth = 881.111223; finalDepth = 879.773220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.021338 # Actual altitude: 64.021338 # Commanded vehicle depth: 879.77322 # Seafloor depth: -931.911125 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 256.09; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.61; MB_Bottom_Detect_Filter_Max_Range = 256.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 107.270980 meters # Minimum depth: 931.111223 meters looking forward 100.000000 meters along route # Maximum depth: 933.956533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 881.111223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.818256; longitude = -117.571127; captureRadius = 10; duration = 214; initialDepth = 882.551573; finalDepth = 881.111223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1379049999999 # Actual altitude: 52.1379049999999 # Commanded vehicle depth: 881.111223 # Seafloor depth: -931.111223 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.55; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 208.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 114.314782 meters # Minimum depth: 932.551573 meters looking forward 100.000000 meters along route # Maximum depth: 934.725520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 882.551573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.817723; longitude = -117.570172; captureRadius = 10; duration = 228; initialDepth = 884.846752; finalDepth = 882.551573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.114899 # Actual altitude: 51.114899 # Commanded vehicle depth: 882.551573 # Seafloor depth: -933.666472 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 100.228471 meters # Minimum depth: 934.846752 meters looking forward 100.000000 meters along route # Maximum depth: 935.831110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 884.846752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.817154; longitude = -117.569153; captureRadius = 10; duration = 200; initialDepth = 876.705495; finalDepth = 884.846752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.114899 # Actual altitude: 51.114899 # Commanded vehicle depth: 884.846752 # Seafloor depth: -934.846752 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 109.458253 meters # Minimum depth: 926.705495 meters looking forward 100.000000 meters along route # Maximum depth: 935.904620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 876.705495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.816655; longitude = -117.568260; captureRadius = 10; duration = 218; initialDepth = 876.288143; finalDepth = 876.705495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.199125 # Actual altitude: 59.199125 # Commanded vehicle depth: 876.705495 # Seafloor depth: -935.904620 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 236.80; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.68; MB_Bottom_Detect_Filter_Max_Range = 236.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 105.086723 meters # Minimum depth: 926.288143 meters looking forward 100.000000 meters along route # Maximum depth: 930.331708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 876.288143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.816110; longitude = -117.567285; captureRadius = 10; duration = 210; initialDepth = 874.230546; finalDepth = 876.288143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.199125 # Actual altitude: 59.199125 # Commanded vehicle depth: 876.288143 # Seafloor depth: -926.288143 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 236.80; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.68; MB_Bottom_Detect_Filter_Max_Range = 236.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 107.273135 meters # Minimum depth: 924.230546 meters looking forward 100.000000 meters along route # Maximum depth: 928.662685 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 874.230546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.815587; longitude = -117.566348; captureRadius = 10; duration = 214; initialDepth = 874.124689; finalDepth = 874.230546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.210572 # Actual altitude: 54.210572 # Commanded vehicle depth: 874.230546 # Seafloor depth: -928.441118 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.84; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.68; MB_Bottom_Detect_Filter_Max_Range = 216.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 107.273565 meters # Minimum depth: 924.124689 meters looking forward 100.000000 meters along route # Maximum depth: 924.979824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 874.124689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.815054; longitude = -117.565393; captureRadius = 10; duration = 214; initialDepth = 875.602016; finalDepth = 874.124689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.210572 # Actual altitude: 54.210572 # Commanded vehicle depth: 874.124689 # Seafloor depth: -924.154373 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.84; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.68; MB_Bottom_Detect_Filter_Max_Range = 216.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 107.273997 meters # Minimum depth: 925.602016 meters looking forward 100.000000 meters along route # Maximum depth: 927.894318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 875.602016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.814520; longitude = -117.564437; captureRadius = 10; duration = 214; initialDepth = 876.688967; finalDepth = 875.602016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.029684 # Actual altitude: 50.029684 # Commanded vehicle depth: 875.602016 # Seafloor depth: -925.602016 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.12; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 112.294573 meters # Minimum depth: 926.688967 meters looking forward 100.000000 meters along route # Maximum depth: 929.753070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 876.688967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.813986; longitude = -117.563481; captureRadius = 10; duration = 224; initialDepth = 879.880079; finalDepth = 876.688967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 876.688967 # Seafloor depth: -926.688967 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 102.254713 meters # Minimum depth: 929.880079 meters looking forward 100.000000 meters along route # Maximum depth: 930.688332 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 879.880079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.813427; longitude = -117.562481; captureRadius = 10; duration = 204; initialDepth = 880.574500; finalDepth = 879.880079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.011025 # Actual altitude: 50.011025 # Commanded vehicle depth: 879.880079 # Seafloor depth: -929.891104 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.04; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 107.437891 meters # Minimum depth: 930.574500 meters looking forward 100.000000 meters along route # Maximum depth: 932.254232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 880.574500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.812918; longitude = -117.561570; captureRadius = 10; duration = 214; initialDepth = 881.610405; finalDepth = 880.574500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.011025 # Actual altitude: 50.011025 # Commanded vehicle depth: 880.5745 # Seafloor depth: -930.574500 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.04; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 107.113119 meters # Minimum depth: 931.610405 meters looking forward 100.000000 meters along route # Maximum depth: 932.257691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 881.610405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.812384; longitude = -117.560612; captureRadius = 10; duration = 214; initialDepth = 882.092079; finalDepth = 881.610405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.647286 # Actual altitude: 50.647286 # Commanded vehicle depth: 881.610405 # Seafloor depth: -932.257691 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.59; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 102.244267 meters # Minimum depth: 932.092079 meters looking forward 100.000000 meters along route # Maximum depth: 933.435877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 882.092079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.811851; longitude = -117.559658; captureRadius = 10; duration = 204; initialDepth = 880.163704; finalDepth = 882.092079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.647286 # Actual altitude: 50.647286 # Commanded vehicle depth: 882.092079 # Seafloor depth: -932.268671 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 202.59; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 150.047150 meters # Minimum depth: 930.163704 meters looking forward 100.000000 meters along route # Maximum depth: 933.551300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 880.163704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.811342; longitude = -117.558747; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 879.341485; finalDepth = 880.163704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 53.3875959999999 # Actual altitude: 53.3875959999999 # Commanded vehicle depth: 880.163704 # Seafloor depth: -933.551300 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 213.55; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.36; MB_Bottom_Detect_Filter_Max_Range = 213.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 89.902798 meters # Minimum depth: 929.341485 meters looking forward 100.000000 meters along route # Maximum depth: 930.502733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 879.341485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.812471; longitude = -117.557863; captureRadius = 10; duration = 179; # abortOnTimeout = True; initialDepth = 878.917204; finalDepth = 879.341485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3875959999999 # Actual altitude: 53.3875959999999 # Commanded vehicle depth: 879.341485 # Seafloor depth: -930.255127 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.55; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.36; MB_Bottom_Detect_Filter_Max_Range = 213.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 107.274821 meters # Minimum depth: 928.917204 meters looking forward 100.000000 meters along route # Maximum depth: 929.822121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 878.917204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.812918; longitude = -117.558664; captureRadius = 10; duration = 214; initialDepth = 876.826241; finalDepth = 878.917204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.913642 # Actual altitude: 50.913642 # Commanded vehicle depth: 878.917204 # Seafloor depth: -929.655143 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.65; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 111.395432 meters # Minimum depth: 926.826241 meters looking forward 100.000000 meters along route # Maximum depth: 929.736484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 876.826241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.813452; longitude = -117.559620; captureRadius = 10; duration = 222; initialDepth = 872.860198; finalDepth = 876.826241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.250643 # Actual altitude: 52.250643 # Commanded vehicle depth: 876.826241 # Seafloor depth: -929.076884 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 209.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 103.152916 meters # Minimum depth: 922.860198 meters looking forward 100.000000 meters along route # Maximum depth: 926.479028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.860198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.814006; longitude = -117.560612; captureRadius = 10; duration = 206; initialDepth = 874.178179; finalDepth = 872.860198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.61883 # Actual altitude: 53.61883 # Commanded vehicle depth: 872.860198 # Seafloor depth: -926.479028 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.48; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.45; MB_Bottom_Detect_Filter_Max_Range = 214.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 107.273527 meters # Minimum depth: 924.178179 meters looking forward 100.000000 meters along route # Maximum depth: 925.264546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 874.178179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.814520; longitude = -117.561531; captureRadius = 10; duration = 214; initialDepth = 871.086348; finalDepth = 874.178179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.61883 # Actual altitude: 53.61883 # Commanded vehicle depth: 874.178179 # Seafloor depth: -924.354162 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.48; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.45; MB_Bottom_Detect_Filter_Max_Range = 214.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 107.273097 meters # Minimum depth: 921.086348 meters looking forward 100.000000 meters along route # Maximum depth: 924.175663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.086348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.815054; longitude = -117.562487; captureRadius = 10; duration = 214; initialDepth = 873.346910; finalDepth = 871.086348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0893149999999 # Actual altitude: 53.0893149999999 # Commanded vehicle depth: 871.086348 # Seafloor depth: -924.175663 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.36; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.24; MB_Bottom_Detect_Filter_Max_Range = 212.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 107.272665 meters # Minimum depth: 923.346910 meters looking forward 100.000000 meters along route # Maximum depth: 926.185030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.346910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.815587; longitude = -117.563443; captureRadius = 10; duration = 214; initialDepth = 874.905434; finalDepth = 873.346910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0893149999999 # Actual altitude: 53.0893149999999 # Commanded vehicle depth: 873.34691 # Seafloor depth: -923.346910 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.36; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.24; MB_Bottom_Detect_Filter_Max_Range = 212.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 114.227246 meters # Minimum depth: 924.905434 meters looking forward 100.000000 meters along route # Maximum depth: 932.063995 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 874.905434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.816121; longitude = -117.564399; captureRadius = 10; duration = 228; initialDepth = 881.823338; finalDepth = 874.905434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 874.905434 # Seafloor depth: -924.905434 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 100.316792 meters # Minimum depth: 931.823338 meters looking forward 100.000000 meters along route # Maximum depth: 932.808639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 881.823338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.816690; longitude = -117.565416; captureRadius = 10; duration = 200; initialDepth = 880.707900; finalDepth = 881.823338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3941239999999 # Actual altitude: 50.3941239999999 # Commanded vehicle depth: 881.823338 # Seafloor depth: -932.217462 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.58; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.16; MB_Bottom_Detect_Filter_Max_Range = 201.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 109.368943 meters # Minimum depth: 930.707900 meters looking forward 100.000000 meters along route # Maximum depth: 933.269323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 880.707900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.817189; longitude = -117.566310; captureRadius = 10; duration = 218; initialDepth = 873.287800; finalDepth = 880.707900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0963 # Actual altitude: 52.0963 # Commanded vehicle depth: 880.7079 # Seafloor depth: -932.804200 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.39; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.84; MB_Bottom_Detect_Filter_Max_Range = 208.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 105.173372 meters # Minimum depth: 923.287800 meters looking forward 100.000000 meters along route # Maximum depth: 930.429915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.287800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.817733; longitude = -117.567285; captureRadius = 10; duration = 210; initialDepth = 877.431400; finalDepth = 873.287800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1421150000001 # Actual altitude: 57.1421150000001 # Commanded vehicle depth: 873.2878 # Seafloor depth: -930.429915 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 228.57; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.86; MB_Bottom_Detect_Filter_Max_Range = 228.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 107.270511 meters # Minimum depth: 927.431400 meters looking forward 100.000000 meters along route # Maximum depth: 930.849863 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 877.431400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.818256; longitude = -117.568222; captureRadius = 10; duration = 214; initialDepth = 876.241126; finalDepth = 877.431400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1421150000001 # Actual altitude: 57.1421150000001 # Commanded vehicle depth: 877.4314 # Seafloor depth: -930.849863 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 228.57; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.86; MB_Bottom_Detect_Filter_Max_Range = 228.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 107.270080 meters # Minimum depth: 926.241126 meters looking forward 100.000000 meters along route # Maximum depth: 929.148441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 876.241126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.818790; longitude = -117.569178; captureRadius = 10; duration = 214; initialDepth = 875.788045; finalDepth = 876.241126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.418463 # Actual altitude: 53.418463 # Commanded vehicle depth: 876.241126 # Seafloor depth: -927.390317 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.67; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.37; MB_Bottom_Detect_Filter_Max_Range = 213.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 107.269649 meters # Minimum depth: 925.788045 meters looking forward 100.000000 meters along route # Maximum depth: 928.604249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 875.788045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.819324; longitude = -117.570133; captureRadius = 10; duration = 214; initialDepth = 879.316131; finalDepth = 875.788045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.149191 # Actual altitude: 51.149191 # Commanded vehicle depth: 875.788045 # Seafloor depth: -925.788045 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.60; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 112.200717 meters # Minimum depth: 929.316131 meters looking forward 100.000000 meters along route # Maximum depth: 941.857947 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 879.316131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.819858; longitude = -117.571089; captureRadius = 10; duration = 224; initialDepth = 891.024263; finalDepth = 879.316131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 879.316131 # Seafloor depth: -929.316131 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 102.337288 meters # Minimum depth: 941.024263 meters looking forward 100.000000 meters along route # Maximum depth: 942.985624 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 891.024263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.820416; longitude = -117.572089; captureRadius = 10; duration = 204; initialDepth = 891.090791; finalDepth = 891.024263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.043644 # Actual altitude: 51.043644 # Commanded vehicle depth: 891.024263 # Seafloor depth: -942.067907 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.17; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 107.342567 meters # Minimum depth: 941.090791 meters looking forward 100.000000 meters along route # Maximum depth: 943.360545 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 891.090791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.820925; longitude = -117.573001; captureRadius = 10; duration = 214; initialDepth = 892.650651; finalDepth = 891.090791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.043644 # Actual altitude: 51.043644 # Commanded vehicle depth: 891.090791 # Seafloor depth: -941.090791 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.17; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 107.193716 meters # Minimum depth: 942.650651 meters looking forward 100.000000 meters along route # Maximum depth: 953.718806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 892.650651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.821459; longitude = -117.573957; captureRadius = 10; duration = 214; initialDepth = 902.839476; finalDepth = 892.650651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 892.650651 # Seafloor depth: -942.650651 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 107.267494 meters # Minimum depth: 952.839476 meters looking forward 100.000000 meters along route # Maximum depth: 964.397722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 902.839476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.821993; longitude = -117.574912; captureRadius = 10; duration = 214; initialDepth = 911.031129; finalDepth = 902.839476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4421170000001 # Actual altitude: 51.4421170000001 # Commanded vehicle depth: 902.839476 # Seafloor depth: -954.281593 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 107.267065 meters # Minimum depth: 961.031129 meters looking forward 100.000000 meters along route # Maximum depth: 974.929813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 911.031129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.822527; longitude = -117.575868; captureRadius = 10; duration = 214; initialDepth = 923.865529; finalDepth = 911.031129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4421170000001 # Actual altitude: 51.4421170000001 # Commanded vehicle depth: 911.031129 # Seafloor depth: -961.031129 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 107.266633 meters # Minimum depth: 973.865529 meters looking forward 100.000000 meters along route # Maximum depth: 979.203139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.865529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.823060; longitude = -117.576824; captureRadius = 10; duration = 214; initialDepth = 928.830308; finalDepth = 923.865529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 923.865529 # Seafloor depth: -973.865529 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 110.174304 meters # Minimum depth: 978.830308 meters looking forward 100.000000 meters along route # Maximum depth: 988.995566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.830308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.823594; longitude = -117.577780; captureRadius = 10; duration = 220; initialDepth = 932.824059; finalDepth = 928.830308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.751208 # Actual altitude: 50.751208 # Commanded vehicle depth: 928.830308 # Seafloor depth: -979.581516 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 203.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 104.357670 meters # Minimum depth: 982.824059 meters looking forward 100.000000 meters along route # Maximum depth: 992.938059 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.824059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.824143; longitude = -117.578761; captureRadius = 10; duration = 208; initialDepth = 927.569174; finalDepth = 932.824059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.000053 # Actual altitude: 56.000053 # Commanded vehicle depth: 932.824059 # Seafloor depth: -988.824112 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 224.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.40; MB_Bottom_Detect_Filter_Max_Range = 224.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 107.265342 meters # Minimum depth: 977.569174 meters looking forward 100.000000 meters along route # Maximum depth: 995.300056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.569174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.824662; longitude = -117.579691; captureRadius = 10; duration = 214; initialDepth = 904.025473; finalDepth = 927.569174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.7308820000001 # Actual altitude: 67.7308820000001 # Commanded vehicle depth: 927.569174 # Seafloor depth: -995.300056 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 270.92; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.09; MB_Bottom_Detect_Filter_Max_Range = 270.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 107.264910 meters # Minimum depth: 954.025473 meters looking forward 100.000000 meters along route # Maximum depth: 977.551326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 904.025473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.825196; longitude = -117.580647; captureRadius = 10; duration = 214; initialDepth = 881.887701; finalDepth = 904.025473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.525853 # Actual altitude: 73.525853 # Commanded vehicle depth: 904.025473 # Seafloor depth: -977.551326 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 294.10; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.41; MB_Bottom_Detect_Filter_Max_Range = 294.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 294.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 107.264480 meters # Minimum depth: 931.887701 meters looking forward 100.000000 meters along route # Maximum depth: 951.750578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 881.887701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.825729; longitude = -117.581603; captureRadius = 10; duration = 214; initialDepth = 879.137769; finalDepth = 881.887701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.525853 # Actual altitude: 73.525853 # Commanded vehicle depth: 881.887701 # Seafloor depth: -951.750578 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 294.10; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.41; MB_Bottom_Detect_Filter_Max_Range = 294.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 294.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 113.005927 meters # Minimum depth: 929.137769 meters looking forward 100.000000 meters along route # Maximum depth: 931.627002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 879.137769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.826263; longitude = -117.582559; captureRadius = 10; duration = 226; initialDepth = 876.181138; finalDepth = 879.137769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.862877 # Actual altitude: 69.862877 # Commanded vehicle depth: 879.137769 # Seafloor depth: -931.627002 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 279.45; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.95; MB_Bottom_Detect_Filter_Max_Range = 279.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 101.521740 meters # Minimum depth: 926.181138 meters looking forward 100.000000 meters along route # Maximum depth: 928.794944 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 876.181138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.826826; longitude = -117.583566; captureRadius = 10; duration = 203; initialDepth = 874.177263; finalDepth = 876.181138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.613806 # Actual altitude: 52.613806 # Commanded vehicle depth: 876.181138 # Seafloor depth: -928.794944 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.05; MB_Bottom_Detect_Filter_Max_Range = 210.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 108.148005 meters # Minimum depth: 924.177263 meters looking forward 100.000000 meters along route # Maximum depth: 925.666155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 874.177263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.827331; longitude = -117.584470; captureRadius = 10; duration = 216; initialDepth = 872.060760; finalDepth = 874.177263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.613806 # Actual altitude: 52.613806 # Commanded vehicle depth: 874.177263 # Seafloor depth: -925.666155 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.05; MB_Bottom_Detect_Filter_Max_Range = 210.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 106.377940 meters # Minimum depth: 922.060760 meters looking forward 100.000000 meters along route # Maximum depth: 924.485656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.060760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.827869; longitude = -117.585434; captureRadius = 10; duration = 212; initialDepth = 872.198842; finalDepth = 872.060760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.424896 # Actual altitude: 52.424896 # Commanded vehicle depth: 872.06076 # Seafloor depth: -924.485656 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.70; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.97; MB_Bottom_Detect_Filter_Max_Range = 209.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 107.262326 meters # Minimum depth: 922.198842 meters looking forward 100.000000 meters along route # Maximum depth: 925.792040 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.198842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828398; longitude = -117.586382; captureRadius = 10; duration = 214; initialDepth = 873.527735; finalDepth = 872.198842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.424896 # Actual altitude: 52.424896 # Commanded vehicle depth: 872.198842 # Seafloor depth: -922.198842 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.70; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.97; MB_Bottom_Detect_Filter_Max_Range = 209.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 107.261896 meters # Minimum depth: 923.527735 meters looking forward 100.000000 meters along route # Maximum depth: 924.278891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.527735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828932; longitude = -117.587338; captureRadius = 10; duration = 214; initialDepth = 873.303146; finalDepth = 873.527735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 873.527735 # Seafloor depth: -923.527735 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 107.261465 meters # Minimum depth: 923.303146 meters looking forward 100.000000 meters along route # Maximum depth: 927.275218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.303146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.829466; longitude = -117.588293; captureRadius = 10; duration = 214; initialDepth = 877.575157; finalDepth = 873.303146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.804243 # Actual altitude: 50.804243 # Commanded vehicle depth: 873.303146 # Seafloor depth: -924.107389 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.22; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 101.102340 meters # Minimum depth: 927.575157 meters looking forward 100.000000 meters along route # Maximum depth: 930.655664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 877.575157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830000; longitude = -117.589249; captureRadius = 10; duration = 202; initialDepth = 871.894516; finalDepth = 877.575157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.804243 # Actual altitude: 50.804243 # Commanded vehicle depth: 877.575157 # Seafloor depth: -927.800409 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 203.22; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 150.038255 meters # Minimum depth: 921.894516 meters looking forward 100.000000 meters along route # Maximum depth: 930.336487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.894516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830503; longitude = -117.590150; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 872.472580; finalDepth = 871.894516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 58.4419710000001 # Actual altitude: 58.4419710000001 # Commanded vehicle depth: 871.894516 # Seafloor depth: -930.336487 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 233.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.38; MB_Bottom_Detect_Filter_Max_Range = 233.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 167.064103 meters # Minimum depth: 922.472580 meters looking forward 100.000000 meters along route # Maximum depth: 925.246548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.472580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831632; longitude = -117.589266; captureRadius = 10; duration = 334; # abortOnTimeout = True; initialDepth = 871.853310; finalDepth = 872.472580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.4419710000001 # Actual altitude: 58.4419710000001 # Commanded vehicle depth: 872.47258 # Seafloor depth: -922.472580 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 233.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.38; MB_Bottom_Detect_Filter_Max_Range = 233.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 113.234771 meters # Minimum depth: 921.853310 meters looking forward 100.000000 meters along route # Maximum depth: 922.982855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.853310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830801; longitude = -117.587777; captureRadius = 10; duration = 226; initialDepth = 871.832154; finalDepth = 871.853310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.129545 # Actual altitude: 51.129545 # Commanded vehicle depth: 871.85331 # Seafloor depth: -922.982855 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.52; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 101.278944 meters # Minimum depth: 921.832154 meters looking forward 100.000000 meters along route # Maximum depth: 922.438048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.832154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830237; longitude = -117.586768; captureRadius = 10; duration = 202; initialDepth = 872.590817; finalDepth = 871.832154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.129545 # Actual altitude: 51.129545 # Commanded vehicle depth: 871.832154 # Seafloor depth: -921.832154 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.52; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 108.390529 meters # Minimum depth: 922.590817 meters looking forward 100.000000 meters along route # Maximum depth: 923.718254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.590817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.829733; longitude = -117.585866; captureRadius = 10; duration = 216; initialDepth = 872.299809; finalDepth = 872.590817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 872.590817 # Seafloor depth: -922.590817 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 106.124909 meters # Minimum depth: 922.299809 meters looking forward 100.000000 meters along route # Maximum depth: 923.539464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.299809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.829194; longitude = -117.584900; captureRadius = 10; duration = 212; initialDepth = 872.059543; finalDepth = 872.299809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.239655 # Actual altitude: 51.239655 # Commanded vehicle depth: 872.299809 # Seafloor depth: -923.539464 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.96; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 204.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 107.258364 meters # Minimum depth: 922.059543 meters looking forward 100.000000 meters along route # Maximum depth: 922.501598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.059543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828665; longitude = -117.583954; captureRadius = 10; duration = 214; initialDepth = 872.877308; finalDepth = 872.059543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.239655 # Actual altitude: 51.239655 # Commanded vehicle depth: 872.059543 # Seafloor depth: -922.425262 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.96; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 204.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 107.258796 meters # Minimum depth: 922.877308 meters looking forward 100.000000 meters along route # Maximum depth: 931.856498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.877308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828132; longitude = -117.582999; captureRadius = 10; duration = 214; initialDepth = 881.915724; finalDepth = 872.877308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.365719 # Actual altitude: 50.365719 # Commanded vehicle depth: 872.877308 # Seafloor depth: -922.877308 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 107.259226 meters # Minimum depth: 931.915724 meters looking forward 100.000000 meters along route # Maximum depth: 962.663220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 881.915724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.827598; longitude = -117.582043; captureRadius = 10; duration = 214; initialDepth = 915.536608; finalDepth = 881.915724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 881.915724 # Seafloor depth: -931.915724 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 111.256335 meters # Minimum depth: 965.536608 meters looking forward 100.000000 meters along route # Maximum depth: 982.734972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.536608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.827064; longitude = -117.581087; captureRadius = 10; duration = 222; initialDepth = 925.858346; finalDepth = 915.536608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 915.536608 # Seafloor depth: -965.536608 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 103.263409 meters # Minimum depth: 975.858346 meters looking forward 100.000000 meters along route # Maximum depth: 991.952615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.858346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.826510; longitude = -117.580096; captureRadius = 10; duration = 206; initialDepth = 926.460095; finalDepth = 925.858346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.593623 # Actual altitude: 56.593623 # Commanded vehicle depth: 925.858346 # Seafloor depth: -982.451969 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 226.37; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.64; MB_Bottom_Detect_Filter_Max_Range = 226.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 107.260519 meters # Minimum depth: 976.460095 meters looking forward 100.000000 meters along route # Maximum depth: 997.601987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.460095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.825996; longitude = -117.579176; captureRadius = 10; duration = 214; initialDepth = 927.711514; finalDepth = 926.460095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.141892 # Actual altitude: 71.141892 # Commanded vehicle depth: 926.460095 # Seafloor depth: -997.601987 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 284.57; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.46; MB_Bottom_Detect_Filter_Max_Range = 284.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 107.260949 meters # Minimum depth: 977.711514 meters looking forward 100.000000 meters along route # Maximum depth: 989.509762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.711514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.825463; longitude = -117.578220; captureRadius = 10; duration = 214; initialDepth = 918.608180; finalDepth = 927.711514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.141892 # Actual altitude: 71.141892 # Commanded vehicle depth: 927.711514 # Seafloor depth: -989.509762 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 284.57; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.46; MB_Bottom_Detect_Filter_Max_Range = 284.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 107.261379 meters # Minimum depth: 968.608180 meters looking forward 100.000000 meters along route # Maximum depth: 975.412018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.608180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.824929; longitude = -117.577264; captureRadius = 10; duration = 214; initialDepth = 900.657116; finalDepth = 918.608180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.7982480000001 # Actual altitude: 61.7982480000001 # Commanded vehicle depth: 918.60818 # Seafloor depth: -975.412018 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 247.19; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.72; MB_Bottom_Detect_Filter_Max_Range = 247.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 114.122257 meters # Minimum depth: 950.657116 meters looking forward 100.000000 meters along route # Maximum depth: 968.013005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 900.657116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.824395; longitude = -117.576309; captureRadius = 10; duration = 228; initialDepth = 896.751169; finalDepth = 900.657116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.355889 # Actual altitude: 67.355889 # Commanded vehicle depth: 900.657116 # Seafloor depth: -968.013005 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 269.42; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.94; MB_Bottom_Detect_Filter_Max_Range = 269.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 100.401795 meters # Minimum depth: 946.751169 meters looking forward 100.000000 meters along route # Maximum depth: 949.511661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 896.751169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.823827; longitude = -117.575292; captureRadius = 10; duration = 200; initialDepth = 890.842700; finalDepth = 896.751169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.355889 # Actual altitude: 67.355889 # Commanded vehicle depth: 896.751169 # Seafloor depth: -949.511661 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 269.42; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.94; MB_Bottom_Detect_Filter_Max_Range = 269.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 109.277788 meters # Minimum depth: 940.842700 meters looking forward 100.000000 meters along route # Maximum depth: 946.247489 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 890.842700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.823327; longitude = -117.574397; captureRadius = 10; duration = 218; initialDepth = 890.837530; finalDepth = 890.842700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4047889999999 # Actual altitude: 55.4047889999999 # Commanded vehicle depth: 890.8427 # Seafloor depth: -946.247489 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.62; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.16; MB_Bottom_Detect_Filter_Max_Range = 221.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 105.247987 meters # Minimum depth: 940.837530 meters looking forward 100.000000 meters along route # Maximum depth: 942.856712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 890.837530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.822784; longitude = -117.573423; captureRadius = 10; duration = 210; initialDepth = 883.966240; finalDepth = 890.837530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4047889999999 # Actual altitude: 55.4047889999999 # Commanded vehicle depth: 890.83753 # Seafloor depth: -940.837530 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.62; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.16; MB_Bottom_Detect_Filter_Max_Range = 221.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 107.263534 meters # Minimum depth: 933.966240 meters looking forward 100.000000 meters along route # Maximum depth: 941.636729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 883.966240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.822260; longitude = -117.572486; captureRadius = 10; duration = 214; initialDepth = 875.795944; finalDepth = 883.966240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.6087220000001 # Actual altitude: 57.6087220000001 # Commanded vehicle depth: 883.96624 # Seafloor depth: -941.574962 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 230.43; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.04; MB_Bottom_Detect_Filter_Max_Range = 230.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 107.263964 meters # Minimum depth: 925.795944 meters looking forward 100.000000 meters along route # Maximum depth: 933.878460 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 875.795944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.821726; longitude = -117.571530; captureRadius = 10; duration = 214; initialDepth = 875.375551; finalDepth = 875.795944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0825160000001 # Actual altitude: 58.0825160000001 # Commanded vehicle depth: 875.795944 # Seafloor depth: -933.878460 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 232.33; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.23; MB_Bottom_Detect_Filter_Max_Range = 232.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 107.264396 meters # Minimum depth: 925.375551 meters looking forward 100.000000 meters along route # Maximum depth: 928.811860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 875.375551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.821192; longitude = -117.570574; captureRadius = 10; duration = 214; initialDepth = 868.196822; finalDepth = 875.375551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0825160000001 # Actual altitude: 58.0825160000001 # Commanded vehicle depth: 875.375551 # Seafloor depth: -926.317812 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 232.33; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.23; MB_Bottom_Detect_Filter_Max_Range = 232.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 112.143751 meters # Minimum depth: 918.196822 meters looking forward 100.000000 meters along route # Maximum depth: 926.519193 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.196822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.820658; longitude = -117.569618; captureRadius = 10; duration = 224; initialDepth = 869.067930; finalDepth = 868.196822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.9534609999999 # Actual altitude: 57.9534609999999 # Commanded vehicle depth: 868.196822 # Seafloor depth: -926.150283 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 231.81; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.18; MB_Bottom_Detect_Filter_Max_Range = 231.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 102.386332 meters # Minimum depth: 919.067930 meters looking forward 100.000000 meters along route # Maximum depth: 924.725113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.067930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.820100; longitude = -117.568619; captureRadius = 10; duration = 204; initialDepth = 875.973312; finalDepth = 869.067930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.9534609999999 # Actual altitude: 57.9534609999999 # Commanded vehicle depth: 869.06793 # Seafloor depth: -923.461807 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 231.81; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.18; MB_Bottom_Detect_Filter_Max_Range = 231.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 107.299131 meters # Minimum depth: 925.973312 meters looking forward 100.000000 meters along route # Maximum depth: 930.042924 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 875.973312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.819591; longitude = -117.567707; captureRadius = 10; duration = 214; initialDepth = 879.323481; finalDepth = 875.973312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.393877 # Actual altitude: 54.393877 # Commanded vehicle depth: 875.973312 # Seafloor depth: -926.019733 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 217.58; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.76; MB_Bottom_Detect_Filter_Max_Range = 217.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 107.232676 meters # Minimum depth: 929.323481 meters looking forward 100.000000 meters along route # Maximum depth: 930.330473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 879.323481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.819057; longitude = -117.566751; captureRadius = 10; duration = 214; initialDepth = 879.722865; finalDepth = 879.323481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.72049 # Actual altitude: 50.72049 # Commanded vehicle depth: 879.323481 # Seafloor depth: -930.043971 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.88; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 107.266550 meters # Minimum depth: 929.722865 meters looking forward 100.000000 meters along route # Maximum depth: 931.445186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 879.722865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.818523; longitude = -117.565796; captureRadius = 10; duration = 214; initialDepth = 880.458094; finalDepth = 879.722865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.72049 # Actual altitude: 50.72049 # Commanded vehicle depth: 879.722865 # Seafloor depth: -929.722865 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.88; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 107.266981 meters # Minimum depth: 930.458094 meters looking forward 100.000000 meters along route # Maximum depth: 932.240985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 880.458094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.817989; longitude = -117.564840; captureRadius = 10; duration = 214; initialDepth = 873.671337; finalDepth = 880.458094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1008410000001 # Actual altitude: 51.1008410000001 # Commanded vehicle depth: 880.458094 # Seafloor depth: -931.558935 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.40; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 204.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 107.267412 meters # Minimum depth: 923.671337 meters looking forward 100.000000 meters along route # Maximum depth: 928.403592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.671337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.817456; longitude = -117.563884; captureRadius = 10; duration = 214; initialDepth = 866.328128; finalDepth = 873.671337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.732255 # Actual altitude: 54.732255 # Commanded vehicle depth: 873.671337 # Seafloor depth: -928.403592 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.93; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.89; MB_Bottom_Detect_Filter_Max_Range = 218.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 110.165135 meters # Minimum depth: 916.328128 meters looking forward 100.000000 meters along route # Maximum depth: 923.602711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.328128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.816922; longitude = -117.562928; captureRadius = 10; duration = 220; initialDepth = 865.061437; finalDepth = 866.328128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.274583 # Actual altitude: 57.274583 # Commanded vehicle depth: 866.328128 # Seafloor depth: -923.602711 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 229.10; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.91; MB_Bottom_Detect_Filter_Max_Range = 229.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 104.370981 meters # Minimum depth: 915.061437 meters looking forward 100.000000 meters along route # Maximum depth: 916.493464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.061437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.816374; longitude = -117.561947; captureRadius = 10; duration = 208; initialDepth = 865.948962; finalDepth = 865.061437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.274583 # Actual altitude: 57.274583 # Commanded vehicle depth: 865.061437 # Seafloor depth: -916.255864 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 229.10; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.91; MB_Bottom_Detect_Filter_Max_Range = 229.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 107.268705 meters # Minimum depth: 915.948962 meters looking forward 100.000000 meters along route # Maximum depth: 918.936113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.948962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.815854; longitude = -117.561017; captureRadius = 10; duration = 214; initialDepth = 867.993687; finalDepth = 865.948962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.194427 # Actual altitude: 51.194427 # Commanded vehicle depth: 865.948962 # Seafloor depth: -915.948962 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.78; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 117.876024 meters # Minimum depth: 917.993687 meters looking forward 100.000000 meters along route # Maximum depth: 921.602518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.993687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.815320; longitude = -117.560061; captureRadius = 10; duration = 235; initialDepth = 872.221087; finalDepth = 867.993687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 867.993687 # Seafloor depth: -917.993687 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 119.824903 meters # Minimum depth: 922.221087 meters looking forward 100.000000 meters along route # Maximum depth: 923.236523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.221087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.814734; longitude = -117.559011; captureRadius = 10; duration = 239; initialDepth = 875.032874; finalDepth = 872.221087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 872.221087 # Seafloor depth: -922.221087 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 108.232227 meters # Minimum depth: 925.032874 meters looking forward 100.000000 meters along route # Maximum depth: 928.255700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 875.032874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.814138; longitude = -117.557943; captureRadius = 10; duration = 216; initialDepth = 870.042164; finalDepth = 875.032874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.013435 # Actual altitude: 51.013435 # Commanded vehicle depth: 875.032874 # Seafloor depth: -926.046309 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 204.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 150.046001 meters # Minimum depth: 920.042164 meters looking forward 100.000000 meters along route # Maximum depth: 928.554703 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.042164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.813599; longitude = -117.556979; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 864.905215; finalDepth = 870.042164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 58.5125390000001 # Actual altitude: 58.5125390000001 # Commanded vehicle depth: 870.042164 # Seafloor depth: -928.554703 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 234.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.41; MB_Bottom_Detect_Filter_Max_Range = 234.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 177.490153 meters # Minimum depth: 914.905215 meters looking forward 100.000000 meters along route # Maximum depth: 919.674311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 864.905215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.814728; longitude = -117.556095; captureRadius = 10; duration = 354; # abortOnTimeout = True; initialDepth = 861.998267; finalDepth = 864.905215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.5125390000001 # Actual altitude: 58.5125390000001 # Commanded vehicle depth: 864.905215 # Seafloor depth: -918.829834 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 234.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.41; MB_Bottom_Detect_Filter_Max_Range = 234.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 102.476918 meters # Minimum depth: 911.998267 meters looking forward 100.000000 meters along route # Maximum depth: 914.571954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 861.998267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.815611; longitude = -117.557676; captureRadius = 10; duration = 204; initialDepth = 861.807576; finalDepth = 861.998267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.924619 # Actual altitude: 53.924619 # Commanded vehicle depth: 861.998267 # Seafloor depth: -914.571954 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 215.70; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.57; MB_Bottom_Detect_Filter_Max_Range = 215.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.272159 meters # Minimum depth: 911.807576 meters looking forward 100.000000 meters along route # Maximum depth: 912.652706 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 861.807576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.816121; longitude = -117.558589; captureRadius = 10; duration = 214; initialDepth = 862.496850; finalDepth = 861.807576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5736869999999 # Actual altitude: 52.5736869999999 # Commanded vehicle depth: 861.807576 # Seafloor depth: -912.652706 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.29; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.03; MB_Bottom_Detect_Filter_Max_Range = 210.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.271728 meters # Minimum depth: 912.496850 meters looking forward 100.000000 meters along route # Maximum depth: 913.712320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 862.496850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.816655; longitude = -117.559545; captureRadius = 10; duration = 214; initialDepth = 864.430389; finalDepth = 862.496850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8451299999999 # Actual altitude: 50.8451299999999 # Commanded vehicle depth: 862.49685 # Seafloor depth: -912.532053 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.38; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 203.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.271297 meters # Minimum depth: 914.430389 meters looking forward 100.000000 meters along route # Maximum depth: 916.592263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 864.430389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.817189; longitude = -117.560501; captureRadius = 10; duration = 214; initialDepth = 861.474821; finalDepth = 864.430389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.035203 # Actual altitude: 50.035203 # Commanded vehicle depth: 864.430389 # Seafloor depth: -914.430389 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.14; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.270865 meters # Minimum depth: 911.474821 meters looking forward 100.000000 meters along route # Maximum depth: 916.239692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 861.474821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.817723; longitude = -117.561457; captureRadius = 10; duration = 214; initialDepth = 860.070184; finalDepth = 861.474821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.764871 # Actual altitude: 54.764871 # Commanded vehicle depth: 861.474821 # Seafloor depth: -916.239692 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 219.06; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.91; MB_Bottom_Detect_Filter_Max_Range = 219.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.270435 meters # Minimum depth: 910.070184 meters looking forward 100.000000 meters along route # Maximum depth: 922.877143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.070184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.818256; longitude = -117.562413; captureRadius = 10; duration = 214; initialDepth = 874.305848; finalDepth = 860.070184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.764871 # Actual altitude: 54.764871 # Commanded vehicle depth: 860.070184 # Seafloor depth: -910.070184 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 219.06; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.91; MB_Bottom_Detect_Filter_Max_Range = 219.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 110.042210 meters # Minimum depth: 924.305848 meters looking forward 100.000000 meters along route # Maximum depth: 932.754529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 874.305848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.818790; longitude = -117.563368; captureRadius = 10; duration = 220; initialDepth = 882.284221; finalDepth = 874.305848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 874.305848 # Seafloor depth: -924.305848 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 104.497366 meters # Minimum depth: 932.284221 meters looking forward 100.000000 meters along route # Maximum depth: 933.018332 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 882.284221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.819338; longitude = -117.564349; captureRadius = 10; duration = 208; initialDepth = 877.999301; finalDepth = 882.284221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.636743 # Actual altitude: 50.636743 # Commanded vehicle depth: 882.284221 # Seafloor depth: -932.920964 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.55; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.269142 meters # Minimum depth: 927.999301 meters looking forward 100.000000 meters along route # Maximum depth: 932.084547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 877.999301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.819858; longitude = -117.565280; captureRadius = 10; duration = 214; initialDepth = 869.893800; finalDepth = 877.999301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0852460000001 # Actual altitude: 54.0852460000001 # Commanded vehicle depth: 877.999301 # Seafloor depth: -932.084547 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.34; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.63; MB_Bottom_Detect_Filter_Max_Range = 216.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.268710 meters # Minimum depth: 919.893800 meters looking forward 100.000000 meters along route # Maximum depth: 927.868671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.893800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.820392; longitude = -117.566236; captureRadius = 10; duration = 214; initialDepth = 870.273984; finalDepth = 869.893800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.9748709999999 # Actual altitude: 57.9748709999999 # Commanded vehicle depth: 869.8938 # Seafloor depth: -927.868671 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 231.90; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.19; MB_Bottom_Detect_Filter_Max_Range = 231.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.268280 meters # Minimum depth: 920.273984 meters looking forward 100.000000 meters along route # Maximum depth: 921.375976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.273984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.820925; longitude = -117.567192; captureRadius = 10; duration = 214; initialDepth = 869.914183; finalDepth = 870.273984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.9748709999999 # Actual altitude: 57.9748709999999 # Commanded vehicle depth: 870.273984 # Seafloor depth: -920.273984 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 231.90; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.19; MB_Bottom_Detect_Filter_Max_Range = 231.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 112.873935 meters # Minimum depth: 919.914183 meters looking forward 100.000000 meters along route # Maximum depth: 921.376362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.914183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.821459; longitude = -117.568147; captureRadius = 10; duration = 225; initialDepth = 867.360401; finalDepth = 869.914183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.462179 # Actual altitude: 51.462179 # Commanded vehicle depth: 869.914183 # Seafloor depth: -921.376362 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.85; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 101.661332 meters # Minimum depth: 917.360401 meters looking forward 100.000000 meters along route # Maximum depth: 922.341771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.360401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.822021; longitude = -117.569153; captureRadius = 10; duration = 203; initialDepth = 869.129627; finalDepth = 867.360401; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.145272 # Actual altitude: 52.145272 # Commanded vehicle depth: 867.360401 # Seafloor depth: -919.505673 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.58; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 208.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 108.015840 meters # Minimum depth: 919.129627 meters looking forward 100.000000 meters along route # Maximum depth: 923.569176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.129627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.822527; longitude = -117.570059; captureRadius = 10; duration = 216; initialDepth = 873.654586; finalDepth = 869.129627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1261459999999 # Actual altitude: 53.1261459999999 # Commanded vehicle depth: 869.129627 # Seafloor depth: -922.255773 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.50; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 106.517702 meters # Minimum depth: 923.654586 meters looking forward 100.000000 meters along route # Maximum depth: 934.816504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.654586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.823064; longitude = -117.571021; captureRadius = 10; duration = 213; initialDepth = 883.378931; finalDepth = 873.654586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1261459999999 # Actual altitude: 53.1261459999999 # Commanded vehicle depth: 873.654586 # Seafloor depth: -923.654586 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.50; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.266126 meters # Minimum depth: 933.378931 meters looking forward 100.000000 meters along route # Maximum depth: 939.780926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 883.378931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.823594; longitude = -117.571970; captureRadius = 10; duration = 214; initialDepth = 889.148215; finalDepth = 883.378931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 883.378931 # Seafloor depth: -933.378931 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.265694 meters # Minimum depth: 939.148215 meters looking forward 100.000000 meters along route # Maximum depth: 941.804004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 889.148215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.824128; longitude = -117.572926; captureRadius = 10; duration = 214; initialDepth = 891.184930; finalDepth = 889.148215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5556929999999 # Actual altitude: 50.5556929999999 # Commanded vehicle depth: 889.148215 # Seafloor depth: -939.703908 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.22; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.265263 meters # Minimum depth: 941.184930 meters looking forward 100.000000 meters along route # Maximum depth: 945.023560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 891.184930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.824662; longitude = -117.573882; captureRadius = 10; duration = 214; initialDepth = 895.384109; finalDepth = 891.184930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.582827 # Actual altitude: 51.582827 # Commanded vehicle depth: 891.18493 # Seafloor depth: -942.767757 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.33; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 110.847528 meters # Minimum depth: 945.384109 meters looking forward 100.000000 meters along route # Maximum depth: 951.027496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 895.384109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.825196; longitude = -117.574838; captureRadius = 10; duration = 221; initialDepth = 900.993994; finalDepth = 895.384109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.582827 # Actual altitude: 51.582827 # Commanded vehicle depth: 895.384109 # Seafloor depth: -945.384109 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.33; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 103.681706 meters # Minimum depth: 950.993994 meters looking forward 100.000000 meters along route # Maximum depth: 961.444448 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 900.993994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.825747; longitude = -117.575825; captureRadius = 10; duration = 207; initialDepth = 911.724166; finalDepth = 900.993994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 900.993994 # Seafloor depth: -950.993994 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.263971 meters # Minimum depth: 961.724166 meters looking forward 100.000000 meters along route # Maximum depth: 973.874634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 911.724166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.826263; longitude = -117.576749; captureRadius = 10; duration = 214; initialDepth = 920.363851; finalDepth = 911.724166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 911.724166 # Seafloor depth: -961.724166 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.263540 meters # Minimum depth: 970.363851 meters looking forward 100.000000 meters along route # Maximum depth: 984.337508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.363851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.826797; longitude = -117.577705; captureRadius = 10; duration = 214; initialDepth = 922.044615; finalDepth = 920.363851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 920.363851 # Seafloor depth: -970.363851 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.263110 meters # Minimum depth: 972.044615 meters looking forward 100.000000 meters along route # Maximum depth: 991.305522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.044615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.827331; longitude = -117.578661; captureRadius = 10; duration = 214; initialDepth = 922.587790; finalDepth = 922.044615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.260907 # Actual altitude: 69.260907 # Commanded vehicle depth: 922.044615 # Seafloor depth: -991.305522 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 277.04; MB_Rate = 2; MB_Gain = 80; 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 = 277.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 113.679100 meters # Minimum depth: 972.587790 meters looking forward 100.000000 meters along route # Maximum depth: 977.053009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.587790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.827865; longitude = -117.579617; captureRadius = 10; duration = 227; initialDepth = 924.404308; finalDepth = 922.587790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.260907 # Actual altitude: 69.260907 # Commanded vehicle depth: 922.58779 # Seafloor depth: -973.539684 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 277.04; MB_Rate = 2; MB_Gain = 80; 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 = 277.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 100.845826 meters # Minimum depth: 974.404308 meters looking forward 100.000000 meters along route # Maximum depth: 990.501537 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.404308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828430; longitude = -117.580630; captureRadius = 10; duration = 201; initialDepth = 872.294909; finalDepth = 924.404308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.02071 # Actual altitude: 53.02071 # Commanded vehicle depth: 924.404308 # Seafloor depth: -977.425018 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.08; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 108.821235 meters # Minimum depth: 922.294909 meters looking forward 100.000000 meters along route # Maximum depth: 980.091006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.294909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828932; longitude = -117.581528; captureRadius = 10; duration = 217; initialDepth = 869.786521; finalDepth = 872.294909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 107.796097 # Actual altitude: 100 # Commanded vehicle depth: 872.294909 # Seafloor depth: -980.091006 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 105.701969 meters # Minimum depth: 919.786521 meters looking forward 100.000000 meters along route # Maximum depth: 922.104257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.786521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.829474; longitude = -117.582498; captureRadius = 10; duration = 211; initialDepth = 870.333270; finalDepth = 869.786521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 107.796097 # Actual altitude: 100 # Commanded vehicle depth: 869.786521 # Seafloor depth: -922.104257 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.260955 meters # Minimum depth: 920.333270 meters looking forward 100.000000 meters along route # Maximum depth: 922.089893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.333270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830000; longitude = -117.583440; captureRadius = 10; duration = 214; initialDepth = 868.912325; finalDepth = 870.333270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.317736 # Actual altitude: 52.317736 # Commanded vehicle depth: 870.33327 # Seafloor depth: -920.347107 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.27; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.93; MB_Bottom_Detect_Filter_Max_Range = 209.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.260525 meters # Minimum depth: 918.912325 meters looking forward 100.000000 meters along route # Maximum depth: 922.049365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.912325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830534; longitude = -117.584396; captureRadius = 10; duration = 214; initialDepth = 866.638566; finalDepth = 868.912325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.13704 # Actual altitude: 53.13704 # Commanded vehicle depth: 868.912325 # Seafloor depth: -922.049365 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.55; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.260095 meters # Minimum depth: 916.638566 meters looking forward 100.000000 meters along route # Maximum depth: 920.024339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.638566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831067; longitude = -117.585351; captureRadius = 10; duration = 214; initialDepth = 871.034320; finalDepth = 866.638566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.13704 # Actual altitude: 53.13704 # Commanded vehicle depth: 866.638566 # Seafloor depth: -918.007173 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.55; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 111.652769 meters # Minimum depth: 921.034320 meters looking forward 100.000000 meters along route # Maximum depth: 923.266309 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.034320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831601; longitude = -117.586307; captureRadius = 10; duration = 223; initialDepth = 871.673592; finalDepth = 871.034320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.368607 # Actual altitude: 51.368607 # Commanded vehicle depth: 871.03432 # Seafloor depth: -921.034320 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 121.184044 meters # Minimum depth: 921.673592 meters looking forward 100.000000 meters along route # Maximum depth: 923.083920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.673592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832157; longitude = -117.587302; captureRadius = 10; duration = 242; initialDepth = 870.155837; finalDepth = 871.673592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.410328 # Actual altitude: 51.410328 # Commanded vehicle depth: 871.673592 # Seafloor depth: -923.083920 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 205.64; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 205.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 150.037105 meters # Minimum depth: 920.155837 meters looking forward 100.000000 meters along route # Maximum depth: 922.563865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.155837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832760; longitude = -117.588382; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 871.402324; finalDepth = 870.155837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 51.410328 # Actual altitude: 51.410328 # Commanded vehicle depth: 870.155837 # Seafloor depth: -921.405350 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 205.64; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 205.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 84.284049 meters # Minimum depth: 921.402324 meters looking forward 100.000000 meters along route # Maximum depth: 922.717224 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.402324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.833889; longitude = -117.587498; captureRadius = 10; duration = 168; # abortOnTimeout = True; initialDepth = 870.017437; finalDepth = 871.402324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3149 # Actual altitude: 51.3149 # Commanded vehicle depth: 871.402324 # Seafloor depth: -922.717224 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.26; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 107.256721 meters # Minimum depth: 920.017437 meters looking forward 100.000000 meters along route # Maximum depth: 921.343418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.017437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.833470; longitude = -117.586747; captureRadius = 10; duration = 214; initialDepth = 868.988123; finalDepth = 870.017437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3259810000001 # Actual altitude: 51.3259810000001 # Commanded vehicle depth: 870.017437 # Seafloor depth: -921.343418 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.30; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 107.257152 meters # Minimum depth: 918.988123 meters looking forward 100.000000 meters along route # Maximum depth: 919.886786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.988123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832936; longitude = -117.585791; captureRadius = 10; duration = 214; initialDepth = 866.967206; finalDepth = 868.988123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3259810000001 # Actual altitude: 51.3259810000001 # Commanded vehicle depth: 868.988123 # Seafloor depth: -919.699851 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.30; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 112.555703 meters # Minimum depth: 916.967206 meters looking forward 100.000000 meters along route # Maximum depth: 919.997996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.967206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832402; longitude = -117.584835; captureRadius = 10; duration = 225; initialDepth = 866.035827; finalDepth = 866.967206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0307899999999 # Actual altitude: 53.0307899999999 # Commanded vehicle depth: 866.967206 # Seafloor depth: -919.997996 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.12; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 101.959892 meters # Minimum depth: 916.035827 meters looking forward 100.000000 meters along route # Maximum depth: 916.866592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.035827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831842; longitude = -117.583832; captureRadius = 10; duration = 203; initialDepth = 865.383948; finalDepth = 866.035827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0307899999999 # Actual altitude: 53.0307899999999 # Commanded vehicle depth: 866.035827 # Seafloor depth: -916.866592 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.12; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 107.704920 meters # Minimum depth: 915.383948 meters looking forward 100.000000 meters along route # Maximum depth: 934.429075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.383948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831334; longitude = -117.582924; captureRadius = 10; duration = 215; initialDepth = 884.667244; finalDepth = 865.383948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8307649999999 # Actual altitude: 50.8307649999999 # Commanded vehicle depth: 865.383948 # Seafloor depth: -916.011343 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.32; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 106.812398 meters # Minimum depth: 934.667244 meters looking forward 100.000000 meters along route # Maximum depth: 976.828290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 884.667244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830798; longitude = -117.581964; captureRadius = 10; duration = 213; initialDepth = 921.593716; finalDepth = 884.667244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.627395 # Actual altitude: 50.627395 # Commanded vehicle depth: 884.667244 # Seafloor depth: -934.667244 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.51; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 107.259305 meters # Minimum depth: 971.593716 meters looking forward 100.000000 meters along route # Maximum depth: 980.416480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.593716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830267; longitude = -117.581012; captureRadius = 10; duration = 214; initialDepth = 919.827269; finalDepth = 921.593716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.693742 # Actual altitude: 54.693742 # Commanded vehicle depth: 921.593716 # Seafloor depth: -976.287458 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.88; MB_Bottom_Detect_Filter_Max_Range = 218.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 107.259736 meters # Minimum depth: 969.827269 meters looking forward 100.000000 meters along route # Maximum depth: 971.437989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.827269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.829733; longitude = -117.580057; captureRadius = 10; duration = 214; initialDepth = 917.887732; finalDepth = 919.827269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.693742 # Actual altitude: 54.693742 # Commanded vehicle depth: 919.827269 # Seafloor depth: -971.407061 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.88; MB_Bottom_Detect_Filter_Max_Range = 218.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 107.260166 meters # Minimum depth: 967.887732 meters looking forward 100.000000 meters along route # Maximum depth: 970.468173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.887732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.829199; longitude = -117.579101; captureRadius = 10; duration = 214; initialDepth = 908.246858; finalDepth = 917.887732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3605739999999 # Actual altitude: 52.3605739999999 # Commanded vehicle depth: 917.887732 # Seafloor depth: -970.248306 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.44; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.94; MB_Bottom_Detect_Filter_Max_Range = 209.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 110.554039 meters # Minimum depth: 958.246858 meters looking forward 100.000000 meters along route # Maximum depth: 967.386143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 908.246858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828665; longitude = -117.578145; captureRadius = 10; duration = 221; initialDepth = 897.546888; finalDepth = 908.246858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.921685 # Actual altitude: 58.921685 # Commanded vehicle depth: 908.246858 # Seafloor depth: -967.168543 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 235.69; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.57; MB_Bottom_Detect_Filter_Max_Range = 235.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 103.967587 meters # Minimum depth: 947.546888 meters looking forward 100.000000 meters along route # Maximum depth: 958.055144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 897.546888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828115; longitude = -117.577160; captureRadius = 10; duration = 207; initialDepth = 894.804068; finalDepth = 897.546888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.5082560000001 # Actual altitude: 60.5082560000001 # Commanded vehicle depth: 897.546888 # Seafloor depth: -958.055144 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 242.03; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.20; MB_Bottom_Detect_Filter_Max_Range = 242.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 107.261459 meters # Minimum depth: 944.804068 meters looking forward 100.000000 meters along route # Maximum depth: 946.675075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 894.804068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.827598; longitude = -117.576234; captureRadius = 10; duration = 214; initialDepth = 892.336327; finalDepth = 894.804068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.5082560000001 # Actual altitude: 60.5082560000001 # Commanded vehicle depth: 894.804068 # Seafloor depth: -946.359110 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 242.03; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.20; MB_Bottom_Detect_Filter_Max_Range = 242.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 107.261890 meters # Minimum depth: 942.336327 meters looking forward 100.000000 meters along route # Maximum depth: 946.064168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 892.336327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.827064; longitude = -117.575278; captureRadius = 10; duration = 214; initialDepth = 891.826950; finalDepth = 892.336327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.707217 # Actual altitude: 53.707217 # Commanded vehicle depth: 892.336327 # Seafloor depth: -946.043544 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.83; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.48; MB_Bottom_Detect_Filter_Max_Range = 214.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 107.262321 meters # Minimum depth: 941.826950 meters looking forward 100.000000 meters along route # Maximum depth: 947.315036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 891.826950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.826530; longitude = -117.574322; captureRadius = 10; duration = 214; initialDepth = 886.105249; finalDepth = 891.826950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.707217 # Actual altitude: 53.707217 # Commanded vehicle depth: 891.82695 # Seafloor depth: -941.826950 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.83; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.48; MB_Bottom_Detect_Filter_Max_Range = 214.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 113.403272 meters # Minimum depth: 936.105249 meters looking forward 100.000000 meters along route # Maximum depth: 941.790217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 886.105249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.825996; longitude = -117.573366; captureRadius = 10; duration = 226; initialDepth = 883.999102; finalDepth = 886.105249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.684968 # Actual altitude: 55.684968 # Commanded vehicle depth: 886.105249 # Seafloor depth: -941.790217 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.74; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.27; MB_Bottom_Detect_Filter_Max_Range = 222.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 101.122662 meters # Minimum depth: 933.999102 meters looking forward 100.000000 meters along route # Maximum depth: 936.330642 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 883.999102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.825432; longitude = -117.572356; captureRadius = 10; duration = 202; initialDepth = 860.179722; finalDepth = 883.999102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.684968 # Actual altitude: 55.684968 # Commanded vehicle depth: 883.999102 # Seafloor depth: -935.984800 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.74; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.27; MB_Bottom_Detect_Filter_Max_Range = 222.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 108.552262 meters # Minimum depth: 910.179722 meters looking forward 100.000000 meters along route # Maximum depth: 933.806120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.179722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.824929; longitude = -117.571455; captureRadius = 10; duration = 217; initialDepth = 860.226092; finalDepth = 860.179722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.626398 # Actual altitude: 73.626398 # Commanded vehicle depth: 860.179722 # Seafloor depth: -933.806120 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 294.51; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.45; MB_Bottom_Detect_Filter_Max_Range = 294.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 294.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 105.975395 meters # Minimum depth: 910.226092 meters looking forward 100.000000 meters along route # Maximum depth: 919.801630 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.226092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.824389; longitude = -117.570488; captureRadius = 10; duration = 211; initialDepth = 864.757420; finalDepth = 860.226092; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.626398 # Actual altitude: 73.626398 # Commanded vehicle depth: 860.226092 # Seafloor depth: -910.226092 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 294.51; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.45; MB_Bottom_Detect_Filter_Max_Range = 294.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 294.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 107.264475 meters # Minimum depth: 914.757420 meters looking forward 100.000000 meters along route # Maximum depth: 918.502408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 864.757420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.823861; longitude = -117.569543; captureRadius = 10; duration = 214; initialDepth = 867.607595; finalDepth = 864.757420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7449879999999 # Actual altitude: 53.7449879999999 # Commanded vehicle depth: 864.75742 # Seafloor depth: -918.502408 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.98; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.50; MB_Bottom_Detect_Filter_Max_Range = 214.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 107.264907 meters # Minimum depth: 917.607595 meters looking forward 100.000000 meters along route # Maximum depth: 918.584746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.607595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.823327; longitude = -117.568587; captureRadius = 10; duration = 214; initialDepth = 868.847500; finalDepth = 867.607595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7449879999999 # Actual altitude: 53.7449879999999 # Commanded vehicle depth: 867.607595 # Seafloor depth: -917.607595 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.98; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.50; MB_Bottom_Detect_Filter_Max_Range = 214.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 107.265337 meters # Minimum depth: 918.847500 meters looking forward 100.000000 meters along route # Maximum depth: 920.525311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.847500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.822794; longitude = -117.567632; captureRadius = 10; duration = 214; initialDepth = 869.359379; finalDepth = 868.847500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 868.8475 # Seafloor depth: -918.847500 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 111.401536 meters # Minimum depth: 919.359379 meters looking forward 100.000000 meters along route # Maximum depth: 920.418987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.359379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.822260; longitude = -117.566676; captureRadius = 10; duration = 222; initialDepth = 870.483277; finalDepth = 869.359379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.735395 # Actual altitude: 50.735395 # Commanded vehicle depth: 869.359379 # Seafloor depth: -920.094774 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.94; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 103.130431 meters # Minimum depth: 920.483277 meters looking forward 100.000000 meters along route # Maximum depth: 926.503223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.483277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.821705; longitude = -117.565683; captureRadius = 10; duration = 206; initialDepth = 877.462507; finalDepth = 870.483277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.735395 # Actual altitude: 50.735395 # Commanded vehicle depth: 870.483277 # Seafloor depth: -920.483277 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.94; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 107.266630 meters # Minimum depth: 927.462507 meters looking forward 100.000000 meters along route # Maximum depth: 933.166672 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 877.462507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.821192; longitude = -117.564764; captureRadius = 10; duration = 214; initialDepth = 875.042507; finalDepth = 877.462507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 877.462507 # Seafloor depth: -927.462507 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 107.267061 meters # Minimum depth: 925.042507 meters looking forward 100.000000 meters along route # Maximum depth: 933.315682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 875.042507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.820658; longitude = -117.563809; captureRadius = 10; duration = 214; initialDepth = 860.373334; finalDepth = 875.042507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1358279999999 # Actual altitude: 58.1358279999999 # Commanded vehicle depth: 875.042507 # Seafloor depth: -933.178335 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 232.54; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.25; MB_Bottom_Detect_Filter_Max_Range = 232.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 107.267492 meters # Minimum depth: 910.373334 meters looking forward 100.000000 meters along route # Maximum depth: 919.846353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.373334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.820125; longitude = -117.562853; captureRadius = 10; duration = 214; initialDepth = 855.654623; finalDepth = 860.373334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1358279999999 # Actual altitude: 58.1358279999999 # Commanded vehicle depth: 860.373334 # Seafloor depth: -915.252820 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 232.54; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.25; MB_Bottom_Detect_Filter_Max_Range = 232.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 114.250926 meters # Minimum depth: 905.654623 meters looking forward 100.000000 meters along route # Maximum depth: 909.095496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.654623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.819591; longitude = -117.561897; captureRadius = 10; duration = 228; initialDepth = 859.213448; finalDepth = 855.654623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.879486 # Actual altitude: 54.879486 # Commanded vehicle depth: 855.654623 # Seafloor depth: -908.736764 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 219.52; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.95; MB_Bottom_Detect_Filter_Max_Range = 219.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 100.285351 meters # Minimum depth: 909.213448 meters looking forward 100.000000 meters along route # Maximum depth: 913.539181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.213448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.819022; longitude = -117.560879; captureRadius = 10; duration = 200; initialDepth = 860.631914; finalDepth = 859.213448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.082141 # Actual altitude: 53.082141 # Commanded vehicle depth: 859.213448 # Seafloor depth: -909.213448 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.33; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.23; MB_Bottom_Detect_Filter_Max_Range = 212.33; 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 = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 109.399689 meters # Minimum depth: 910.631914 meters looking forward 100.000000 meters along route # Maximum depth: 912.492101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.631914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.818523; longitude = -117.559986; captureRadius = 10; duration = 218; initialDepth = 862.532487; finalDepth = 860.631914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9939589999999 # Actual altitude: 50.9939589999999 # Commanded vehicle depth: 860.631914 # Seafloor depth: -911.625873 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.98; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 203.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 105.138313 meters # Minimum depth: 912.532487 meters looking forward 100.000000 meters along route # Maximum depth: 916.061277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 862.532487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.817979; longitude = -117.559011; captureRadius = 10; duration = 210; initialDepth = 866.306300; finalDepth = 862.532487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9939589999999 # Actual altitude: 50.9939589999999 # Commanded vehicle depth: 862.532487 # Seafloor depth: -912.532487 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.98; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 203.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 107.269648 meters # Minimum depth: 916.306300 meters looking forward 100.000000 meters along route # Maximum depth: 919.536226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.306300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.817456; longitude = -117.558074; captureRadius = 10; duration = 214; initialDepth = 867.456451; finalDepth = 866.306300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 866.3063 # Seafloor depth: -916.306300 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 107.270078 meters # Minimum depth: 917.456451 meters looking forward 100.000000 meters along route # Maximum depth: 918.969419 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.456451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.816922; longitude = -117.557118; captureRadius = 10; duration = 214; initialDepth = 869.172745; finalDepth = 867.456451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.512968 # Actual altitude: 51.512968 # Commanded vehicle depth: 867.456451 # Seafloor depth: -918.969419 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 106.915881 meters # Minimum depth: 919.172745 meters looking forward 100.000000 meters along route # Maximum depth: 922.503087 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.172745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.816388; longitude = -117.556163; captureRadius = 10; duration = 213; initialDepth = 867.986149; finalDepth = 869.172745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.512968 # Actual altitude: 51.512968 # Commanded vehicle depth: 869.172745 # Seafloor depth: -919.172745 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 206.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 149.952391 meters # Minimum depth: 917.986149 meters looking forward 100.000000 meters along route # Maximum depth: 921.360962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.986149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.815856; longitude = -117.555210; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 867.759818; finalDepth = 867.986149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 53.374813 # Actual altitude: 53.374813 # Commanded vehicle depth: 867.986149 # Seafloor depth: -921.360962 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 213.50; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.35; MB_Bottom_Detect_Filter_Max_Range = 213.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 94.772319 meters # Minimum depth: 917.759818 meters looking forward 100.000000 meters along route # Maximum depth: 918.068247 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.759818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.816984; longitude = -117.554326; captureRadius = 10; duration = 189; # abortOnTimeout = True; initialDepth = 863.584472; finalDepth = 867.759818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.374813 # Actual altitude: 53.374813 # Commanded vehicle depth: 867.759818 # Seafloor depth: -917.825500 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.50; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.35; MB_Bottom_Detect_Filter_Max_Range = 213.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 107.265041 meters # Minimum depth: 913.584472 meters looking forward 100.000000 meters along route # Maximum depth: 917.322609 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 863.584472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.817456; longitude = -117.555170; captureRadius = 10; duration = 214; initialDepth = 860.865872; finalDepth = 863.584472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7381370000001 # Actual altitude: 53.7381370000001 # Commanded vehicle depth: 863.584472 # Seafloor depth: -917.322609 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.95; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.50; MB_Bottom_Detect_Filter_Max_Range = 214.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 114.088009 meters # Minimum depth: 910.865872 meters looking forward 100.000000 meters along route # Maximum depth: 913.308241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.865872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.817989; longitude = -117.556126; captureRadius = 10; duration = 228; initialDepth = 854.043144; finalDepth = 860.865872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7381370000001 # Actual altitude: 53.7381370000001 # Commanded vehicle depth: 860.865872 # Seafloor depth: -913.308241 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.95; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.50; MB_Bottom_Detect_Filter_Max_Range = 214.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.440780 meters # Minimum depth: 904.043144 meters looking forward 100.000000 meters along route # Maximum depth: 910.433364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 854.043144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.818557; longitude = -117.557143; captureRadius = 10; duration = 200; initialDepth = 854.449509; finalDepth = 854.043144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.39022 # Actual altitude: 56.39022 # Commanded vehicle depth: 854.043144 # Seafloor depth: -910.433364 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 225.56; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.56; MB_Bottom_Detect_Filter_Max_Range = 225.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 109.246812 meters # Minimum depth: 904.449509 meters looking forward 100.000000 meters along route # Maximum depth: 908.591590 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 854.449509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.819057; longitude = -117.558038; captureRadius = 10; duration = 218; initialDepth = 857.323402; finalDepth = 854.449509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.39022 # Actual altitude: 56.39022 # Commanded vehicle depth: 854.449509 # Seafloor depth: -904.449509 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 225.56; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.56; MB_Bottom_Detect_Filter_Max_Range = 225.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 105.280252 meters # Minimum depth: 907.323402 meters looking forward 100.000000 meters along route # Maximum depth: 911.840627 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 857.323402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.819601; longitude = -117.559011; captureRadius = 10; duration = 210; initialDepth = 858.596961; finalDepth = 857.323402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 857.323402 # Seafloor depth: -907.323402 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 107.262886 meters # Minimum depth: 908.596961 meters looking forward 100.000000 meters along route # Maximum depth: 914.682791 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 858.596961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.820125; longitude = -117.559949; captureRadius = 10; duration = 214; initialDepth = 858.321282; finalDepth = 858.596961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.487778 # Actual altitude: 53.487778 # Commanded vehicle depth: 858.596961 # Seafloor depth: -912.084739 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.95; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.40; MB_Bottom_Detect_Filter_Max_Range = 213.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 107.262454 meters # Minimum depth: 908.321282 meters looking forward 100.000000 meters along route # Maximum depth: 923.190108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 858.321282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.820658; longitude = -117.560905; captureRadius = 10; duration = 214; initialDepth = 875.482234; finalDepth = 858.321282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.487778 # Actual altitude: 53.487778 # Commanded vehicle depth: 858.321282 # Seafloor depth: -908.321282 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.95; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.40; MB_Bottom_Detect_Filter_Max_Range = 213.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 107.262023 meters # Minimum depth: 925.482234 meters looking forward 100.000000 meters along route # Maximum depth: 933.428608 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 875.482234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.821192; longitude = -117.561860; captureRadius = 10; duration = 214; initialDepth = 878.023866; finalDepth = 875.482234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 875.482234 # Seafloor depth: -925.482234 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 112.121487 meters # Minimum depth: 928.023866 meters looking forward 100.000000 meters along route # Maximum depth: 933.010397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 878.023866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.821726; longitude = -117.562816; captureRadius = 10; duration = 224; initialDepth = 868.657398; finalDepth = 878.023866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.986531 # Actual altitude: 54.986531 # Commanded vehicle depth: 878.023866 # Seafloor depth: -933.010397 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 219.95; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.99; MB_Bottom_Detect_Filter_Max_Range = 219.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 102.401267 meters # Minimum depth: 918.657398 meters looking forward 100.000000 meters along route # Maximum depth: 927.469595 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.657398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.822284; longitude = -117.563815; captureRadius = 10; duration = 204; initialDepth = 867.275642; finalDepth = 868.657398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8121970000001 # Actual altitude: 58.8121970000001 # Commanded vehicle depth: 868.657398 # Seafloor depth: -927.469595 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 235.25; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.52; MB_Bottom_Detect_Filter_Max_Range = 235.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 107.280442 meters # Minimum depth: 917.275642 meters looking forward 100.000000 meters along route # Maximum depth: 918.196093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.275642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.822794; longitude = -117.564727; captureRadius = 10; duration = 214; initialDepth = 867.041467; finalDepth = 867.275642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8121970000001 # Actual altitude: 58.8121970000001 # Commanded vehicle depth: 867.275642 # Seafloor depth: -918.196093 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 235.25; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.52; MB_Bottom_Detect_Filter_Max_Range = 235.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 107.240588 meters # Minimum depth: 917.041467 meters looking forward 100.000000 meters along route # Maximum depth: 917.843411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.041467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.823327; longitude = -117.565683; captureRadius = 10; duration = 214; initialDepth = 865.691229; finalDepth = 867.041467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9204510000001 # Actual altitude: 50.9204510000001 # Commanded vehicle depth: 867.041467 # Seafloor depth: -917.734998 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.68; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 107.259869 meters # Minimum depth: 915.691229 meters looking forward 100.000000 meters along route # Maximum depth: 917.598528 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.691229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.823861; longitude = -117.566639; captureRadius = 10; duration = 214; initialDepth = 863.560377; finalDepth = 865.691229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.693531 # Actual altitude: 50.693531 # Commanded vehicle depth: 865.691229 # Seafloor depth: -916.267435 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 107.259437 meters # Minimum depth: 913.560377 meters looking forward 100.000000 meters along route # Maximum depth: 917.045997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 863.560377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.824395; longitude = -117.567595; captureRadius = 10; duration = 214; initialDepth = 861.924624; finalDepth = 863.560377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.48562 # Actual altitude: 53.48562 # Commanded vehicle depth: 863.560377 # Seafloor depth: -917.045997 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.94; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.39; MB_Bottom_Detect_Filter_Max_Range = 213.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 107.259007 meters # Minimum depth: 911.924624 meters looking forward 100.000000 meters along route # Maximum depth: 914.055488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 861.924624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.824929; longitude = -117.568550; captureRadius = 10; duration = 214; initialDepth = 864.027885; finalDepth = 861.924624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.48562 # Actual altitude: 53.48562 # Commanded vehicle depth: 861.924624 # Seafloor depth: -914.055488 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.94; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.39; MB_Bottom_Detect_Filter_Max_Range = 213.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 110.155075 meters # Minimum depth: 914.027885 meters looking forward 100.000000 meters along route # Maximum depth: 928.946540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 864.027885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.825463; longitude = -117.569506; captureRadius = 10; duration = 220; initialDepth = 876.145915; finalDepth = 864.027885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.130864 # Actual altitude: 52.130864 # Commanded vehicle depth: 864.027885 # Seafloor depth: -914.027885 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.52; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 104.361645 meters # Minimum depth: 926.145915 meters looking forward 100.000000 meters along route # Maximum depth: 931.717800 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 876.145915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.826011; longitude = -117.570488; captureRadius = 10; duration = 208; initialDepth = 881.566312; finalDepth = 876.145915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.859233 # Actual altitude: 52.859233 # Commanded vehicle depth: 876.145915 # Seafloor depth: -929.005148 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.44; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.14; MB_Bottom_Detect_Filter_Max_Range = 211.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 107.257714 meters # Minimum depth: 931.566312 meters looking forward 100.000000 meters along route # Maximum depth: 940.599814 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 881.566312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.826530; longitude = -117.571417; captureRadius = 10; duration = 214; initialDepth = 890.571606; finalDepth = 881.566312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.859233 # Actual altitude: 52.859233 # Commanded vehicle depth: 881.566312 # Seafloor depth: -932.220052 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.44; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.14; MB_Bottom_Detect_Filter_Max_Range = 211.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 107.257283 meters # Minimum depth: 940.571606 meters looking forward 100.000000 meters along route # Maximum depth: 943.735182 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 890.571606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.827064; longitude = -117.572373; captureRadius = 10; duration = 214; initialDepth = 889.245471; finalDepth = 890.571606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.65374 # Actual altitude: 50.65374 # Commanded vehicle depth: 890.571606 # Seafloor depth: -940.571606 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.61; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 107.256853 meters # Minimum depth: 939.245471 meters looking forward 100.000000 meters along route # Maximum depth: 944.370181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 889.245471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.827598; longitude = -117.573329; captureRadius = 10; duration = 214; initialDepth = 892.567552; finalDepth = 889.245471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1247100000001 # Actual altitude: 55.1247100000001 # Commanded vehicle depth: 889.245471 # Seafloor depth: -944.370181 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.50; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.05; MB_Bottom_Detect_Filter_Max_Range = 220.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 113.029592 meters # Minimum depth: 942.567552 meters looking forward 100.000000 meters along route # Maximum depth: 957.483713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 892.567552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828132; longitude = -117.574285; captureRadius = 10; duration = 226; initialDepth = 895.877202; finalDepth = 892.567552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1247100000001 # Actual altitude: 55.1247100000001 # Commanded vehicle depth: 892.567552 # Seafloor depth: -942.828582 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.50; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.05; MB_Bottom_Detect_Filter_Max_Range = 220.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 101.482819 meters # Minimum depth: 945.877202 meters looking forward 100.000000 meters along route # Maximum depth: 947.173738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 895.877202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828694; longitude = -117.575292; captureRadius = 10; duration = 202; initialDepth = 897.150552; finalDepth = 895.877202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2965359999999 # Actual altitude: 51.2965359999999 # Commanded vehicle depth: 895.877202 # Seafloor depth: -947.173738 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.19; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 108.188775 meters # Minimum depth: 947.150552 meters looking forward 100.000000 meters along route # Maximum depth: 981.695065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 897.150552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.829199; longitude = -117.576196; captureRadius = 10; duration = 216; initialDepth = 902.651263; finalDepth = 897.150552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2965359999999 # Actual altitude: 51.2965359999999 # Commanded vehicle depth: 897.150552 # Seafloor depth: -947.150552 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.19; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 106.321914 meters # Minimum depth: 952.651263 meters looking forward 100.000000 meters along route # Maximum depth: 960.862984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 902.651263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.829738; longitude = -117.577160; captureRadius = 10; duration = 212; initialDepth = 914.947871; finalDepth = 902.651263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.217878 # Actual altitude: 52.217878 # Commanded vehicle depth: 902.651263 # Seafloor depth: -954.869141 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.87; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 208.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 107.254698 meters # Minimum depth: 964.947871 meters looking forward 100.000000 meters along route # Maximum depth: 969.484249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 914.947871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830267; longitude = -117.578107; captureRadius = 10; duration = 214; initialDepth = 918.073905; finalDepth = 914.947871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.217878 # Actual altitude: 52.217878 # Commanded vehicle depth: 914.947871 # Seafloor depth: -964.947871 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.87; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 208.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 107.254268 meters # Minimum depth: 968.073905 meters looking forward 100.000000 meters along route # Maximum depth: 975.854430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.073905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830801; longitude = -117.579063; captureRadius = 10; duration = 214; initialDepth = 911.465274; finalDepth = 918.073905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 918.073905 # Seafloor depth: -968.073905 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 107.253836 meters # Minimum depth: 961.465274 meters looking forward 100.000000 meters along route # Maximum depth: 988.806416 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 911.465274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831334; longitude = -117.580019; captureRadius = 10; duration = 214; initialDepth = 865.449665; finalDepth = 911.465274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.171831 # Actual altitude: 76.171831 # Commanded vehicle depth: 911.465274 # Seafloor depth: -987.637105 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 304.69; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.47; MB_Bottom_Detect_Filter_Max_Range = 304.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 111.063251 meters # Minimum depth: 915.449665 meters looking forward 100.000000 meters along route # Maximum depth: 959.609734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.449665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831868; longitude = -117.580975; captureRadius = 10; duration = 222; initialDepth = 863.150408; finalDepth = 865.449665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.160069 # Actual altitude: 94.160069 # Commanded vehicle depth: 865.449665 # Seafloor depth: -959.609734 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.66; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 103.443130 meters # Minimum depth: 913.150408 meters looking forward 100.000000 meters along route # Maximum depth: 917.137591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 863.150408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832421; longitude = -117.581964; captureRadius = 10; duration = 206; initialDepth = 865.832201; finalDepth = 863.150408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.160069 # Actual altitude: 94.160069 # Commanded vehicle depth: 863.150408 # Seafloor depth: -916.535198 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.66; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 107.252545 meters # Minimum depth: 915.832201 meters looking forward 100.000000 meters along route # Maximum depth: 918.620477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.832201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832936; longitude = -117.582886; captureRadius = 10; duration = 214; initialDepth = 868.427449; finalDepth = 865.832201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3847900000001 # Actual altitude: 53.3847900000001 # Commanded vehicle depth: 865.832201 # Seafloor depth: -915.832201 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.54; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.35; MB_Bottom_Detect_Filter_Max_Range = 213.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 107.252114 meters # Minimum depth: 918.427449 meters looking forward 100.000000 meters along route # Maximum depth: 918.617804 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.427449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.833470; longitude = -117.583842; captureRadius = 10; duration = 214; initialDepth = 868.251564; finalDepth = 868.427449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.190355 # Actual altitude: 50.190355 # Commanded vehicle depth: 868.427449 # Seafloor depth: -918.617804 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 101.381995 meters # Minimum depth: 918.251564 meters looking forward 100.000000 meters along route # Maximum depth: 919.226517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.251564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.834003; longitude = -117.584797; captureRadius = 10; duration = 202; initialDepth = 869.942037; finalDepth = 868.251564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.190355 # Actual altitude: 50.190355 # Commanded vehicle depth: 868.251564 # Seafloor depth: -918.251564 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 102.487594 meters # Minimum depth: 919.942037 meters looking forward 100.000000 meters along route # Maximum depth: 922.345782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.942037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.834508; longitude = -117.585701; captureRadius = 10; duration = 204; initialDepth = 869.134006; finalDepth = 869.942037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 869.942037 # Seafloor depth: -919.942037 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 149.943484 meters # Minimum depth: 919.134006 meters looking forward 100.000000 meters along route # Maximum depth: 922.475647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.134006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.835018; longitude = -117.586614; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 867.361140; finalDepth = 869.134006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 53.341641 # Actual altitude: 53.341641 # Commanded vehicle depth: 869.134006 # Seafloor depth: -922.475647 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 213.37; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.34; MB_Bottom_Detect_Filter_Max_Range = 213.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 162.385481 meters # Minimum depth: 917.361140 meters looking forward 100.000000 meters along route # Maximum depth: 918.973541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.361140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.836146; longitude = -117.585730; captureRadius = 10; duration = 324; # abortOnTimeout = True; initialDepth = 867.634935; finalDepth = 867.361140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.341641 # Actual altitude: 53.341641 # Commanded vehicle depth: 867.36114 # Seafloor depth: -918.973541 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.37; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.34; MB_Bottom_Detect_Filter_Max_Range = 213.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 110.458365 meters # Minimum depth: 917.634935 meters looking forward 100.000000 meters along route # Maximum depth: 919.372944 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.634935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.835338; longitude = -117.584283; captureRadius = 10; duration = 220; initialDepth = 866.533223; finalDepth = 867.634935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.612401 # Actual altitude: 51.612401 # Commanded vehicle depth: 867.634935 # Seafloor depth: -917.634935 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.45; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 104.052335 meters # Minimum depth: 916.533223 meters looking forward 100.000000 meters along route # Maximum depth: 919.323097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.533223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.834788; longitude = -117.583299; captureRadius = 10; duration = 208; initialDepth = 863.577377; finalDepth = 866.533223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7898739999999 # Actual altitude: 52.7898739999999 # Commanded vehicle depth: 866.533223 # Seafloor depth: -919.323097 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.16; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 107.255996 meters # Minimum depth: 913.577377 meters looking forward 100.000000 meters along route # Maximum depth: 921.231535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 863.577377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.834270; longitude = -117.582371; captureRadius = 10; duration = 214; initialDepth = 871.940050; finalDepth = 863.577377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.660696 # Actual altitude: 54.660696 # Commanded vehicle depth: 863.577377 # Seafloor depth: -918.238073 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.64; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.86; MB_Bottom_Detect_Filter_Max_Range = 218.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 107.256427 meters # Minimum depth: 921.940050 meters looking forward 100.000000 meters along route # Maximum depth: 941.580648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.940050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.833736; longitude = -117.581416; captureRadius = 10; duration = 214; initialDepth = 902.257876; finalDepth = 871.940050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.660696 # Actual altitude: 54.660696 # Commanded vehicle depth: 871.94005 # Seafloor depth: -921.940050 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.64; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.86; MB_Bottom_Detect_Filter_Max_Range = 218.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 107.256858 meters # Minimum depth: 952.257876 meters looking forward 100.000000 meters along route # Maximum depth: 999.381803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 902.257876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.833203; longitude = -117.580460; captureRadius = 10; duration = 214; initialDepth = 935.275133; finalDepth = 902.257876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 902.257876 # Seafloor depth: -952.257876 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 113.307452 meters # Minimum depth: 985.275133 meters looking forward 100.000000 meters along route # Maximum depth: 1020.563139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.275133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832669; longitude = -117.579504; captureRadius = 10; duration = 226; initialDepth = 918.849068; finalDepth = 935.275133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.639122 # Actual altitude: 68.639122 # Commanded vehicle depth: 935.275133 # Seafloor depth: -1003.914255 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 274.56; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.46; MB_Bottom_Detect_Filter_Max_Range = 274.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 101.207555 meters # Minimum depth: 968.849068 meters looking forward 100.000000 meters along route # Maximum depth: 1023.238640 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.849068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832105; longitude = -117.578494; captureRadius = 10; duration = 202; initialDepth = 918.320113; finalDepth = 918.849068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 104.389572 # Actual altitude: 100 # Commanded vehicle depth: 918.849068 # Seafloor depth: -1023.238640 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 108.456689 meters # Minimum depth: 968.320113 meters looking forward 100.000000 meters along route # Maximum depth: 972.333168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.320113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831601; longitude = -117.577593; captureRadius = 10; duration = 216; initialDepth = 901.132047; finalDepth = 918.320113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 104.389572 # Actual altitude: 100 # Commanded vehicle depth: 918.320113 # Seafloor depth: -968.320113 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.060043 meters # Minimum depth: 951.132047 meters looking forward 100.000000 meters along route # Maximum depth: 971.880840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 901.132047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831061; longitude = -117.576626; captureRadius = 10; duration = 212; initialDepth = 900.195126; finalDepth = 901.132047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.7487930000001 # Actual altitude: 70.7487930000001 # Commanded vehicle depth: 901.132047 # Seafloor depth: -971.880840 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 283.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.30; MB_Bottom_Detect_Filter_Max_Range = 283.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 107.259011 meters # Minimum depth: 950.195126 meters looking forward 100.000000 meters along route # Maximum depth: 956.187808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 900.195126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830534; longitude = -117.575681; captureRadius = 10; duration = 214; initialDepth = 891.619661; finalDepth = 900.195126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.7487930000001 # Actual altitude: 70.7487930000001 # Commanded vehicle depth: 900.195126 # Seafloor depth: -950.209105 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 283.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.30; MB_Bottom_Detect_Filter_Max_Range = 283.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 107.259443 meters # Minimum depth: 941.619661 meters looking forward 100.000000 meters along route # Maximum depth: 953.697974 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 891.619661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830000; longitude = -117.574725; captureRadius = 10; duration = 214; initialDepth = 889.099728; finalDepth = 891.619661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.0783130000001 # Actual altitude: 62.0783130000001 # Commanded vehicle depth: 891.619661 # Seafloor depth: -953.697974 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 248.31; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.83; MB_Bottom_Detect_Filter_Max_Range = 248.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 107.259874 meters # Minimum depth: 939.099728 meters looking forward 100.000000 meters along route # Maximum depth: 939.872899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 889.099728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.829466; longitude = -117.573770; captureRadius = 10; duration = 214; initialDepth = 884.515542; finalDepth = 889.099728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.0783130000001 # Actual altitude: 62.0783130000001 # Commanded vehicle depth: 889.099728 # Seafloor depth: -939.872899 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 248.31; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.83; MB_Bottom_Detect_Filter_Max_Range = 248.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 111.305815 meters # Minimum depth: 934.515542 meters looking forward 100.000000 meters along route # Maximum depth: 939.704918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 884.515542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828932; longitude = -117.572814; captureRadius = 10; duration = 222; initialDepth = 882.014670; finalDepth = 884.515542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8927640000001 # Actual altitude: 54.8927640000001 # Commanded vehicle depth: 884.515542 # Seafloor depth: -939.408306 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 219.57; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.96; MB_Bottom_Detect_Filter_Max_Range = 219.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.215225 meters # Minimum depth: 932.014670 meters looking forward 100.000000 meters along route # Maximum depth: 936.043470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 882.014670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828378; longitude = -117.571822; captureRadius = 10; duration = 206; initialDepth = 876.392087; finalDepth = 882.014670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8927640000001 # Actual altitude: 54.8927640000001 # Commanded vehicle depth: 882.01467 # Seafloor depth: -934.420611 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 219.57; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.96; MB_Bottom_Detect_Filter_Max_Range = 219.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 107.261166 meters # Minimum depth: 926.392087 meters looking forward 100.000000 meters along route # Maximum depth: 931.046571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 876.392087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.827865; longitude = -117.570902; captureRadius = 10; duration = 214; initialDepth = 867.866414; finalDepth = 876.392087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.654484 # Actual altitude: 54.654484 # Commanded vehicle depth: 876.392087 # Seafloor depth: -931.046571 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.62; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.86; MB_Bottom_Detect_Filter_Max_Range = 218.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 107.261598 meters # Minimum depth: 917.866414 meters looking forward 100.000000 meters along route # Maximum depth: 927.787856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.866414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.827331; longitude = -117.569947; captureRadius = 10; duration = 214; initialDepth = 862.915724; finalDepth = 867.866414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8567780000001 # Actual altitude: 58.8567780000001 # Commanded vehicle depth: 867.866414 # Seafloor depth: -926.723192 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 235.43; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.54; MB_Bottom_Detect_Filter_Max_Range = 235.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 107.262028 meters # Minimum depth: 912.915724 meters looking forward 100.000000 meters along route # Maximum depth: 916.538043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 862.915724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.826797; longitude = -117.568991; captureRadius = 10; duration = 214; initialDepth = 860.412822; finalDepth = 862.915724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8567780000001 # Actual altitude: 58.8567780000001 # Commanded vehicle depth: 862.915724 # Seafloor depth: -916.538043 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 235.43; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.54; MB_Bottom_Detect_Filter_Max_Range = 235.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 114.155057 meters # Minimum depth: 910.412822 meters looking forward 100.000000 meters along route # Maximum depth: 912.780066 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.412822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.826263; longitude = -117.568035; captureRadius = 10; duration = 228; initialDepth = 861.056096; finalDepth = 860.412822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6223190000001 # Actual altitude: 53.6223190000001 # Commanded vehicle depth: 860.412822 # Seafloor depth: -912.780066 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.49; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.45; MB_Bottom_Detect_Filter_Max_Range = 214.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.370293 meters # Minimum depth: 911.056096 meters looking forward 100.000000 meters along route # Maximum depth: 912.811740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 861.056096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.825695; longitude = -117.567018; captureRadius = 10; duration = 200; initialDepth = 861.063849; finalDepth = 861.056096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.367244 # Actual altitude: 52.367244 # Commanded vehicle depth: 861.056096 # Seafloor depth: -911.056096 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.95; MB_Bottom_Detect_Filter_Max_Range = 209.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 109.304066 meters # Minimum depth: 911.063849 meters looking forward 100.000000 meters along route # Maximum depth: 914.032439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 861.063849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.825196; longitude = -117.566124; captureRadius = 10; duration = 218; initialDepth = 863.977577; finalDepth = 861.063849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 861.063849 # Seafloor depth: -911.063849 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 105.223007 meters # Minimum depth: 913.977577 meters looking forward 100.000000 meters along route # Maximum depth: 915.410311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 863.977577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.824652; longitude = -117.565150; captureRadius = 10; duration = 210; initialDepth = 865.818403; finalDepth = 863.977577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 863.977577 # Seafloor depth: -913.977577 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 107.264184 meters # Minimum depth: 915.818403 meters looking forward 100.000000 meters along route # Maximum depth: 919.178127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.818403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.824128; longitude = -117.564212; captureRadius = 10; duration = 214; initialDepth = 869.466030; finalDepth = 865.818403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 865.818403 # Seafloor depth: -915.818403 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 107.264614 meters # Minimum depth: 919.466030 meters looking forward 100.000000 meters along route # Maximum depth: 922.625879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.466030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.823594; longitude = -117.563256; captureRadius = 10; duration = 214; initialDepth = 871.541095; finalDepth = 869.466030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 869.46603 # Seafloor depth: -919.466030 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 107.265046 meters # Minimum depth: 921.541095 meters looking forward 100.000000 meters along route # Maximum depth: 927.801757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.541095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.823060; longitude = -117.562300; captureRadius = 10; duration = 214; initialDepth = 872.113608; finalDepth = 871.541095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.115722 # Actual altitude: 50.115722 # Commanded vehicle depth: 871.541095 # Seafloor depth: -921.656817 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.05; MB_Bottom_Detect_Filter_Max_Range = 200.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 112.153348 meters # Minimum depth: 922.113608 meters looking forward 100.000000 meters along route # Maximum depth: 926.659893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.113608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.822527; longitude = -117.561345; captureRadius = 10; duration = 224; initialDepth = 868.937866; finalDepth = 872.113608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.546285 # Actual altitude: 54.546285 # Commanded vehicle depth: 872.113608 # Seafloor depth: -926.659893 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.19; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.82; MB_Bottom_Detect_Filter_Max_Range = 218.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 102.378036 meters # Minimum depth: 918.937866 meters looking forward 100.000000 meters along route # Maximum depth: 925.024191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.937866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.821969; longitude = -117.560345; captureRadius = 10; duration = 204; initialDepth = 857.679930; finalDepth = 868.937866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.086325 # Actual altitude: 56.086325 # Commanded vehicle depth: 868.937866 # Seafloor depth: -925.024191 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 224.35; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.43; MB_Bottom_Detect_Filter_Max_Range = 224.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 107.302206 meters # Minimum depth: 907.679930 meters looking forward 100.000000 meters along route # Maximum depth: 917.952978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 857.679930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.821459; longitude = -117.559433; captureRadius = 10; duration = 214; initialDepth = 854.382802; finalDepth = 857.679930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.273048 # Actual altitude: 60.273048 # Commanded vehicle depth: 857.67993 # Seafloor depth: -917.952978 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 241.09; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.11; MB_Bottom_Detect_Filter_Max_Range = 241.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 107.230903 meters # Minimum depth: 904.382802 meters looking forward 100.000000 meters along route # Maximum depth: 907.677468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 854.382802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.820925; longitude = -117.558477; captureRadius = 10; duration = 214; initialDepth = 853.478963; finalDepth = 854.382802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.273048 # Actual altitude: 60.273048 # Commanded vehicle depth: 854.382802 # Seafloor depth: -907.677468 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 241.09; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.11; MB_Bottom_Detect_Filter_Max_Range = 241.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 107.267201 meters # Minimum depth: 903.478963 meters looking forward 100.000000 meters along route # Maximum depth: 905.632830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 853.478963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.820392; longitude = -117.557522; captureRadius = 10; duration = 214; initialDepth = 853.130180; finalDepth = 853.478963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.294666 # Actual altitude: 53.294666 # Commanded vehicle depth: 853.478963 # Seafloor depth: -905.632830 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.18; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.32; MB_Bottom_Detect_Filter_Max_Range = 213.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 115.002746 meters # Minimum depth: 903.130180 meters looking forward 100.000000 meters along route # Maximum depth: 905.794672 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 853.130180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.819858; longitude = -117.556566; captureRadius = 10; duration = 230; initialDepth = 856.954113; finalDepth = 853.130180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.194563 # Actual altitude: 52.194563 # Commanded vehicle depth: 853.13018 # Seafloor depth: -905.324743 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.78; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 119.819500 meters # Minimum depth: 906.954113 meters looking forward 100.000000 meters along route # Maximum depth: 913.390810 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 856.954113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.819285; longitude = -117.555541; captureRadius = 10; duration = 239; initialDepth = 863.288588; finalDepth = 856.954113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.194563 # Actual altitude: 52.194563 # Commanded vehicle depth: 856.954113 # Seafloor depth: -906.954113 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.78; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 115.782968 meters # Minimum depth: 913.288588 meters looking forward 100.000000 meters along route # Maximum depth: 914.655920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 863.288588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.818689; longitude = -117.554474; captureRadius = 10; duration = 231; initialDepth = 861.058133; finalDepth = 863.288588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.2307029999999 # Actual altitude: 50.2307029999999 # Commanded vehicle depth: 863.288588 # Seafloor depth: -913.519291 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 200.92; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 149.951241 meters # Minimum depth: 911.058133 meters looking forward 100.000000 meters along route # Maximum depth: 913.888870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 861.058133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.818113; longitude = -117.553442; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 856.380843; finalDepth = 861.058133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 52.830737 # Actual altitude: 52.830737 # Commanded vehicle depth: 861.058133 # Seafloor depth: -913.888870 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 211.32; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 177.556368 meters # Minimum depth: 906.380843 meters looking forward 100.000000 meters along route # Maximum depth: 910.916901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 856.380843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.819241; longitude = -117.552558; captureRadius = 10; duration = 355; # abortOnTimeout = True; initialDepth = 852.346570; finalDepth = 856.380843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.536058 # Actual altitude: 54.536058 # Commanded vehicle depth: 856.380843 # Seafloor depth: -910.916901 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.14; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.81; MB_Bottom_Detect_Filter_Max_Range = 218.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 107.262811 meters # Minimum depth: 902.346570 meters looking forward 100.000000 meters along route # Maximum depth: 905.028511 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 852.346570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.820125; longitude = -117.554140; captureRadius = 10; duration = 214; initialDepth = 852.206383; finalDepth = 852.346570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.536058 # Actual altitude: 54.536058 # Commanded vehicle depth: 852.34657 # Seafloor depth: -904.934510 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.14; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.81; MB_Bottom_Detect_Filter_Max_Range = 218.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 109.909557 meters # Minimum depth: 902.206383 meters looking forward 100.000000 meters along route # Maximum depth: 904.885469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 852.206383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.820658; longitude = -117.555096; captureRadius = 10; duration = 219; initialDepth = 853.542262; finalDepth = 852.206383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.58794 # Actual altitude: 52.58794 # Commanded vehicle depth: 852.206383 # Seafloor depth: -902.802899 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.35; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.04; MB_Bottom_Detect_Filter_Max_Range = 210.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.614770 meters # Minimum depth: 903.542262 meters looking forward 100.000000 meters along route # Maximum depth: 906.126431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 853.542262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.821205; longitude = -117.556075; captureRadius = 10; duration = 209; initialDepth = 857.566753; finalDepth = 853.542262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3657169999999 # Actual altitude: 51.3657169999999 # Commanded vehicle depth: 853.542262 # Seafloor depth: -904.907979 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 107.261517 meters # Minimum depth: 907.566753 meters looking forward 100.000000 meters along route # Maximum depth: 915.057990 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 857.566753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.821726; longitude = -117.557007; captureRadius = 10; duration = 214; initialDepth = 865.096367; finalDepth = 857.566753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3657169999999 # Actual altitude: 51.3657169999999 # Commanded vehicle depth: 857.566753 # Seafloor depth: -907.566753 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 107.261086 meters # Minimum depth: 915.096367 meters looking forward 100.000000 meters along route # Maximum depth: 921.054208 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.096367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.822260; longitude = -117.557963; captureRadius = 10; duration = 214; initialDepth = 867.775452; finalDepth = 865.096367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 865.096367 # Seafloor depth: -915.096367 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 107.260655 meters # Minimum depth: 917.775452 meters looking forward 100.000000 meters along route # Maximum depth: 922.095658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.775452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.822794; longitude = -117.558919; captureRadius = 10; duration = 214; initialDepth = 868.307186; finalDepth = 867.775452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.320206 # Actual altitude: 54.320206 # Commanded vehicle depth: 867.775452 # Seafloor depth: -922.095658 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 217.28; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.73; MB_Bottom_Detect_Filter_Max_Range = 217.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 112.784180 meters # Minimum depth: 918.307186 meters looking forward 100.000000 meters along route # Maximum depth: 922.508770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.307186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.823327; longitude = -117.559874; captureRadius = 10; duration = 225; initialDepth = 859.240316; finalDepth = 868.307186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.320206 # Actual altitude: 54.320206 # Commanded vehicle depth: 868.307186 # Seafloor depth: -918.307186 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 217.28; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.73; MB_Bottom_Detect_Filter_Max_Range = 217.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 101.735836 meters # Minimum depth: 909.240316 meters looking forward 100.000000 meters along route # Maximum depth: 921.925045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.240316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.823889; longitude = -117.560879; captureRadius = 10; duration = 203; initialDepth = 857.100395; finalDepth = 859.240316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.6847289999999 # Actual altitude: 62.6847289999999 # Commanded vehicle depth: 859.240316 # Seafloor depth: -921.925045 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 250.74; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.07; MB_Bottom_Detect_Filter_Max_Range = 250.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 107.943192 meters # Minimum depth: 907.100395 meters looking forward 100.000000 meters along route # Maximum depth: 915.197297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 857.100395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.824395; longitude = -117.561786; captureRadius = 10; duration = 215; initialDepth = 861.642575; finalDepth = 857.100395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.6847289999999 # Actual altitude: 62.6847289999999 # Commanded vehicle depth: 857.100395 # Seafloor depth: -907.100395 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 250.74; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.07; MB_Bottom_Detect_Filter_Max_Range = 250.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 106.575100 meters # Minimum depth: 911.642575 meters looking forward 100.000000 meters along route # Maximum depth: 915.092983 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 861.642575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.824932; longitude = -117.562747; captureRadius = 10; duration = 213; initialDepth = 862.100346; finalDepth = 861.642575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.874378 # Actual altitude: 51.874378 # Commanded vehicle depth: 861.642575 # Seafloor depth: -913.516953 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.50; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 107.258499 meters # Minimum depth: 912.100346 meters looking forward 100.000000 meters along route # Maximum depth: 913.665538 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 862.100346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.825463; longitude = -117.563697; captureRadius = 10; duration = 214; initialDepth = 860.077826; finalDepth = 862.100346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.874378 # Actual altitude: 51.874378 # Commanded vehicle depth: 862.100346 # Seafloor depth: -912.753487 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.50; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 107.258068 meters # Minimum depth: 910.077826 meters looking forward 100.000000 meters along route # Maximum depth: 912.048689 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.077826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.825996; longitude = -117.564653; captureRadius = 10; duration = 214; initialDepth = 859.141400; finalDepth = 860.077826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.970863 # Actual altitude: 51.970863 # Commanded vehicle depth: 860.077826 # Seafloor depth: -912.048689 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.88; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 107.257637 meters # Minimum depth: 909.141400 meters looking forward 100.000000 meters along route # Maximum depth: 909.684689 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.141400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.826530; longitude = -117.565609; captureRadius = 10; duration = 214; initialDepth = 859.792105; finalDepth = 859.141400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.970863 # Actual altitude: 51.970863 # Commanded vehicle depth: 859.1414 # Seafloor depth: -909.684689 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.88; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 110.817775 meters # Minimum depth: 909.792105 meters looking forward 100.000000 meters along route # Maximum depth: 912.019757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.792105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.827064; longitude = -117.566564; captureRadius = 10; duration = 221; initialDepth = 861.545938; finalDepth = 859.792105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5432890000001 # Actual altitude: 50.5432890000001 # Commanded vehicle depth: 859.792105 # Seafloor depth: -909.792105 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.17; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.696207 meters # Minimum depth: 911.545938 meters looking forward 100.000000 meters along route # Maximum depth: 915.019266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 861.545938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.827615; longitude = -117.567552; captureRadius = 10; duration = 207; initialDepth = 865.710031; finalDepth = 861.545938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 861.545938 # Seafloor depth: -911.545938 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 107.256345 meters # Minimum depth: 915.710031 meters looking forward 100.000000 meters along route # Maximum depth: 928.899104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.710031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828132; longitude = -117.568476; captureRadius = 10; duration = 214; initialDepth = 877.395587; finalDepth = 865.710031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 865.710031 # Seafloor depth: -915.710031 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 107.255913 meters # Minimum depth: 927.395587 meters looking forward 100.000000 meters along route # Maximum depth: 932.007647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 877.395587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828665; longitude = -117.569431; captureRadius = 10; duration = 214; initialDepth = 877.918393; finalDepth = 877.395587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.650423 # Actual altitude: 51.650423 # Commanded vehicle depth: 877.395587 # Seafloor depth: -929.046010 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.60; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 107.255482 meters # Minimum depth: 927.918393 meters looking forward 100.000000 meters along route # Maximum depth: 932.731092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 877.918393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.829199; longitude = -117.570387; captureRadius = 10; duration = 214; initialDepth = 883.098025; finalDepth = 877.918393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.650423 # Actual altitude: 51.650423 # Commanded vehicle depth: 877.918393 # Seafloor depth: -927.918393 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.60; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 113.692242 meters # Minimum depth: 933.098025 meters looking forward 100.000000 meters along route # Maximum depth: 937.659381 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 883.098025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.829733; longitude = -117.571343; captureRadius = 10; duration = 227; initialDepth = 887.683618; finalDepth = 883.098025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 883.098025 # Seafloor depth: -933.098025 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.817431 meters # Minimum depth: 937.683618 meters looking forward 100.000000 meters along route # Maximum depth: 939.415839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 887.683618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830299; longitude = -117.572356; captureRadius = 10; duration = 201; initialDepth = 887.886678; finalDepth = 887.683618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.178099 # Actual altitude: 51.178099 # Commanded vehicle depth: 887.683618 # Seafloor depth: -938.861717 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.71; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 108.851479 meters # Minimum depth: 937.886678 meters looking forward 100.000000 meters along route # Maximum depth: 951.576438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 887.886678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830801; longitude = -117.573254; captureRadius = 10; duration = 217; initialDepth = 902.059153; finalDepth = 887.886678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.178099 # Actual altitude: 51.178099 # Commanded vehicle depth: 887.886678 # Seafloor depth: -937.886678 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.71; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 105.656469 meters # Minimum depth: 952.059153 meters looking forward 100.000000 meters along route # Maximum depth: 969.185230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 902.059153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831342; longitude = -117.574224; captureRadius = 10; duration = 211; initialDepth = 909.951769; finalDepth = 902.059153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 902.059153 # Seafloor depth: -952.059153 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 107.253328 meters # Minimum depth: 959.951769 meters looking forward 100.000000 meters along route # Maximum depth: 970.762708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 909.951769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831868; longitude = -117.575166; captureRadius = 10; duration = 214; initialDepth = 919.510534; finalDepth = 909.951769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 909.951769 # Seafloor depth: -959.951769 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 107.252897 meters # Minimum depth: 969.510534 meters looking forward 100.000000 meters along route # Maximum depth: 976.781372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.510534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832402; longitude = -117.576121; captureRadius = 10; duration = 214; initialDepth = 918.270425; finalDepth = 919.510534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 919.510534 # Seafloor depth: -969.510534 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 107.252467 meters # Minimum depth: 968.270425 meters looking forward 100.000000 meters along route # Maximum depth: 972.241098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.270425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832936; longitude = -117.577077; captureRadius = 10; duration = 214; initialDepth = 914.130663; finalDepth = 918.270425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 918.270425 # Seafloor depth: -968.270425 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 111.725906 meters # Minimum depth: 964.130663 meters looking forward 100.000000 meters along route # Maximum depth: 978.312529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 914.130663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.833470; longitude = -117.578033; captureRadius = 10; duration = 223; initialDepth = 897.404647; finalDepth = 914.130663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.375309 # Actual altitude: 58.375309 # Commanded vehicle depth: 914.130663 # Seafloor depth: -972.505972 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 233.50; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.35; MB_Bottom_Detect_Filter_Max_Range = 233.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 102.777734 meters # Minimum depth: 947.404647 meters looking forward 100.000000 meters along route # Maximum depth: 963.293753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 897.404647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.834026; longitude = -117.579028; captureRadius = 10; duration = 205; initialDepth = 887.796035; finalDepth = 897.404647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.8891060000001 # Actual altitude: 65.8891060000001 # Commanded vehicle depth: 897.404647 # Seafloor depth: -963.293753 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 263.56; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.36; MB_Bottom_Detect_Filter_Max_Range = 263.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 107.251174 meters # Minimum depth: 937.796035 meters looking forward 100.000000 meters along route # Maximum depth: 944.332344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 887.796035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.834537; longitude = -117.579944; captureRadius = 10; duration = 214; initialDepth = 865.471483; finalDepth = 887.796035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.8891060000001 # Actual altitude: 65.8891060000001 # Commanded vehicle depth: 887.796035 # Seafloor depth: -944.332344 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 263.56; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.36; MB_Bottom_Detect_Filter_Max_Range = 263.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 107.250743 meters # Minimum depth: 915.471483 meters looking forward 100.000000 meters along route # Maximum depth: 940.663033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.471483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.835071; longitude = -117.580900; captureRadius = 10; duration = 214; initialDepth = 867.601528; finalDepth = 865.471483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.19155 # Actual altitude: 75.19155 # Commanded vehicle depth: 865.471483 # Seafloor depth: -940.663033 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 300.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.08; MB_Bottom_Detect_Filter_Max_Range = 300.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 107.250313 meters # Minimum depth: 917.601528 meters looking forward 100.000000 meters along route # Maximum depth: 924.444374 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.601528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.835605; longitude = -117.581856; captureRadius = 10; duration = 214; initialDepth = 867.229098; finalDepth = 867.601528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.19155 # Actual altitude: 75.19155 # Commanded vehicle depth: 867.601528 # Seafloor depth: -924.444374 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 300.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.08; MB_Bottom_Detect_Filter_Max_Range = 300.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 114.600216 meters # Minimum depth: 917.229098 meters looking forward 100.000000 meters along route # Maximum depth: 918.935290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.229098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.836139; longitude = -117.582811; captureRadius = 10; duration = 229; initialDepth = 866.203335; finalDepth = 867.229098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.842846 # Actual altitude: 56.842846 # Commanded vehicle depth: 867.229098 # Seafloor depth: -918.935290 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 227.37; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.74; MB_Bottom_Detect_Filter_Max_Range = 227.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 113.740229 meters # Minimum depth: 916.203335 meters looking forward 100.000000 meters along route # Maximum depth: 917.264455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.203335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.836709; longitude = -117.583832; captureRadius = 10; duration = 227; initialDepth = 865.264750; finalDepth = 866.203335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.706192 # Actual altitude: 51.706192 # Commanded vehicle depth: 866.203335 # Seafloor depth: -917.063978 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 206.82; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 149.942333 meters # Minimum depth: 915.264750 meters looking forward 100.000000 meters along route # Maximum depth: 917.632507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.264750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.837275; longitude = -117.584846; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 864.825653; finalDepth = 865.264750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 52.367757 # Actual altitude: 52.367757 # Commanded vehicle depth: 865.26475 # Seafloor depth: -917.632507 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 209.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.95; MB_Bottom_Detect_Filter_Max_Range = 209.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 79.603503 meters # Minimum depth: 914.825653 meters looking forward 100.000000 meters along route # Maximum depth: 915.264750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 864.825653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.838403; longitude = -117.583962; captureRadius = 10; duration = 159; # abortOnTimeout = True; initialDepth = 863.962911; finalDepth = 864.825653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.367757 # Actual altitude: 52.367757 # Commanded vehicle depth: 864.825653 # Seafloor depth: -914.934372 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.95; MB_Bottom_Detect_Filter_Max_Range = 209.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 107.251076 meters # Minimum depth: 913.962911 meters looking forward 100.000000 meters along route # Maximum depth: 915.214341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 863.962911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.838007; longitude = -117.583253; captureRadius = 10; duration = 214; initialDepth = 863.866794; finalDepth = 863.962911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.805999 # Actual altitude: 50.805999 # Commanded vehicle depth: 863.962911 # Seafloor depth: -914.768910 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.22; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 107.251507 meters # Minimum depth: 913.866794 meters looking forward 100.000000 meters along route # Maximum depth: 925.818097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 863.866794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.837473; longitude = -117.582297; captureRadius = 10; duration = 214; initialDepth = 874.158944; finalDepth = 863.866794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.344072 # Actual altitude: 56.344072 # Commanded vehicle depth: 863.866794 # Seafloor depth: -920.210866 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 225.38; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.54; MB_Bottom_Detect_Filter_Max_Range = 225.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 109.793617 meters # Minimum depth: 924.158944 meters looking forward 100.000000 meters along route # Maximum depth: 932.441374 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 874.158944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.836939; longitude = -117.581341; captureRadius = 10; duration = 219; initialDepth = 882.921350; finalDepth = 874.158944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.344072 # Actual altitude: 56.344072 # Commanded vehicle depth: 874.158944 # Seafloor depth: -929.482178 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 225.38; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.54; MB_Bottom_Detect_Filter_Max_Range = 225.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.710688 meters # Minimum depth: 932.921350 meters looking forward 100.000000 meters along route # Maximum depth: 936.139100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 882.921350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.836393; longitude = -117.580363; captureRadius = 10; duration = 209; initialDepth = 886.215720; finalDepth = 882.921350; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.323234 # Actual altitude: 55.323234 # Commanded vehicle depth: 882.92135 # Seafloor depth: -932.921350 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.29; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.13; MB_Bottom_Detect_Filter_Max_Range = 221.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 107.252800 meters # Minimum depth: 936.215720 meters looking forward 100.000000 meters along route # Maximum depth: 940.610029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 886.215720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.835872; longitude = -117.579430; captureRadius = 10; duration = 214; initialDepth = 890.438036; finalDepth = 886.215720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 886.21572 # Seafloor depth: -936.215720 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 107.253230 meters # Minimum depth: 940.438036 meters looking forward 100.000000 meters along route # Maximum depth: 949.999509 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 890.438036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.835338; longitude = -117.578474; captureRadius = 10; duration = 214; initialDepth = 902.620318; finalDepth = 890.438036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 890.438036 # Seafloor depth: -940.438036 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 107.253660 meters # Minimum depth: 952.620318 meters looking forward 100.000000 meters along route # Maximum depth: 968.700993 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 902.620318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.834804; longitude = -117.577518; captureRadius = 10; duration = 214; initialDepth = 919.104514; finalDepth = 902.620318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 902.620318 # Seafloor depth: -952.620318 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 112.655806 meters # Minimum depth: 969.104514 meters looking forward 100.000000 meters along route # Maximum depth: 972.514440 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.104514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.834270; longitude = -117.576562; captureRadius = 10; duration = 225; initialDepth = 918.437909; finalDepth = 919.104514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 919.104514 # Seafloor depth: -969.104514 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 101.852809 meters # Minimum depth: 968.437909 meters looking forward 100.000000 meters along route # Maximum depth: 971.488422 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.437909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.833710; longitude = -117.575559; captureRadius = 10; duration = 203; initialDepth = 920.062505; finalDepth = 918.437909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9374750000001 # Actual altitude: 51.9374750000001 # Commanded vehicle depth: 918.437909 # Seafloor depth: -970.375384 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.75; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 107.810313 meters # Minimum depth: 970.062505 meters looking forward 100.000000 meters along route # Maximum depth: 977.289582 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.062505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.833203; longitude = -117.574651; captureRadius = 10; duration = 215; initialDepth = 907.720117; finalDepth = 920.062505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9374750000001 # Actual altitude: 51.9374750000001 # Commanded vehicle depth: 920.062505 # Seafloor depth: -970.062505 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.75; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.700025 meters # Minimum depth: 957.720117 meters looking forward 100.000000 meters along route # Maximum depth: 977.332299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.720117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832666; longitude = -117.573690; captureRadius = 10; duration = 213; initialDepth = 884.200296; finalDepth = 907.720117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.6121820000001 # Actual altitude: 69.6121820000001 # Commanded vehicle depth: 907.720117 # Seafloor depth: -977.332299 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 278.45; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.84; MB_Bottom_Detect_Filter_Max_Range = 278.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 107.255815 meters # Minimum depth: 934.200296 meters looking forward 100.000000 meters along route # Maximum depth: 949.998027 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 884.200296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832135; longitude = -117.572740; captureRadius = 10; duration = 214; initialDepth = 880.348245; finalDepth = 884.200296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.6121820000001 # Actual altitude: 69.6121820000001 # Commanded vehicle depth: 884.200296 # Seafloor depth: -949.998027 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 278.45; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.84; MB_Bottom_Detect_Filter_Max_Range = 278.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 107.256247 meters # Minimum depth: 930.348245 meters looking forward 100.000000 meters along route # Maximum depth: 933.868188 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 880.348245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831601; longitude = -117.571784; captureRadius = 10; duration = 214; initialDepth = 878.271705; finalDepth = 880.348245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.797731 # Actual altitude: 65.797731 # Commanded vehicle depth: 880.348245 # Seafloor depth: -933.868188 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 263.19; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.32; MB_Bottom_Detect_Filter_Max_Range = 263.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 107.256677 meters # Minimum depth: 928.271705 meters looking forward 100.000000 meters along route # Maximum depth: 933.429807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 878.271705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831067; longitude = -117.570828; captureRadius = 10; duration = 214; initialDepth = 874.870802; finalDepth = 878.271705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.519943 # Actual altitude: 53.519943 # Commanded vehicle depth: 878.271705 # Seafloor depth: -931.706308 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.08; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 110.672542 meters # Minimum depth: 924.870802 meters looking forward 100.000000 meters along route # Maximum depth: 928.424199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 874.870802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830534; longitude = -117.569872; captureRadius = 10; duration = 221; initialDepth = 862.043305; finalDepth = 874.870802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.434603 # Actual altitude: 53.434603 # Commanded vehicle depth: 874.870802 # Seafloor depth: -928.253277 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.74; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.37; MB_Bottom_Detect_Filter_Max_Range = 213.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.842105 meters # Minimum depth: 912.043305 meters looking forward 100.000000 meters along route # Maximum depth: 924.631908 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 862.043305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.829983; longitude = -117.568886; captureRadius = 10; duration = 207; initialDepth = 859.801705; finalDepth = 862.043305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.5886029999999 # Actual altitude: 62.5886029999999 # Commanded vehicle depth: 862.043305 # Seafloor depth: -924.631908 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 250.35; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.04; MB_Bottom_Detect_Filter_Max_Range = 250.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 107.257971 meters # Minimum depth: 909.801705 meters looking forward 100.000000 meters along route # Maximum depth: 911.372334 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.801705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.829466; longitude = -117.567961; captureRadius = 10; duration = 214; initialDepth = 860.911948; finalDepth = 859.801705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.5886029999999 # Actual altitude: 62.5886029999999 # Commanded vehicle depth: 859.801705 # Seafloor depth: -910.749282 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 250.35; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.04; MB_Bottom_Detect_Filter_Max_Range = 250.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 107.258401 meters # Minimum depth: 910.911948 meters looking forward 100.000000 meters along route # Maximum depth: 911.420807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.911948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828932; longitude = -117.567005; captureRadius = 10; duration = 214; initialDepth = 858.501586; finalDepth = 860.911948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.947577 # Actual altitude: 50.947577 # Commanded vehicle depth: 860.911948 # Seafloor depth: -911.420807 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 107.258832 meters # Minimum depth: 908.501586 meters looking forward 100.000000 meters along route # Maximum depth: 911.303112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 858.501586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828398; longitude = -117.566049; captureRadius = 10; duration = 214; initialDepth = 857.845657; finalDepth = 858.501586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8015260000001 # Actual altitude: 52.8015260000001 # Commanded vehicle depth: 858.501586 # Seafloor depth: -911.303112 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.21; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 113.534886 meters # Minimum depth: 907.845657 meters looking forward 100.000000 meters along route # Maximum depth: 909.463295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 857.845657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.827865; longitude = -117.565094; captureRadius = 10; duration = 227; initialDepth = 857.225940; finalDepth = 857.845657; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8015260000001 # Actual altitude: 52.8015260000001 # Commanded vehicle depth: 857.845657 # Seafloor depth: -909.272085 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.21; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.984072 meters # Minimum depth: 907.225940 meters looking forward 100.000000 meters along route # Maximum depth: 908.268206 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 857.225940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.827300; longitude = -117.564082; captureRadius = 10; duration = 201; initialDepth = 851.943038; finalDepth = 857.225940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.426428 # Actual altitude: 51.426428 # Commanded vehicle depth: 857.22594 # Seafloor depth: -908.268206 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.71; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 108.689168 meters # Minimum depth: 901.943038 meters looking forward 100.000000 meters along route # Maximum depth: 909.813723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 851.943038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.826797; longitude = -117.563182; captureRadius = 10; duration = 217; initialDepth = 841.721620; finalDepth = 851.943038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.621485 # Actual altitude: 55.621485 # Commanded vehicle depth: 851.943038 # Seafloor depth: -907.564523 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.49; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.25; MB_Bottom_Detect_Filter_Max_Range = 222.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 105.831514 meters # Minimum depth: 891.721620 meters looking forward 100.000000 meters along route # Maximum depth: 901.832323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 841.721620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.826256; longitude = -117.562214; captureRadius = 10; duration = 211; initialDepth = 845.461327; finalDepth = 841.721620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1107029999999 # Actual altitude: 60.1107029999999 # Commanded vehicle depth: 841.72162 # Seafloor depth: -901.832323 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 240.44; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.04; MB_Bottom_Detect_Filter_Max_Range = 240.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 107.260988 meters # Minimum depth: 895.461327 meters looking forward 100.000000 meters along route # Maximum depth: 907.536602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 845.461327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.825729; longitude = -117.561271; captureRadius = 10; duration = 214; initialDepth = 858.456448; finalDepth = 845.461327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1107029999999 # Actual altitude: 60.1107029999999 # Commanded vehicle depth: 845.461327 # Seafloor depth: -897.786909 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 240.44; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.04; MB_Bottom_Detect_Filter_Max_Range = 240.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 107.261419 meters # Minimum depth: 908.456448 meters looking forward 100.000000 meters along route # Maximum depth: 916.195467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 858.456448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.825196; longitude = -117.560315; captureRadius = 10; duration = 214; initialDepth = 859.314563; finalDepth = 858.456448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3255820000001 # Actual altitude: 52.3255820000001 # Commanded vehicle depth: 858.456448 # Seafloor depth: -908.456448 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.30; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.93; MB_Bottom_Detect_Filter_Max_Range = 209.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 107.261850 meters # Minimum depth: 909.314563 meters looking forward 100.000000 meters along route # Maximum depth: 917.301688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.314563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.824662; longitude = -117.559359; captureRadius = 10; duration = 214; initialDepth = 860.111395; finalDepth = 859.314563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.987125 # Actual altitude: 57.987125 # Commanded vehicle depth: 859.314563 # Seafloor depth: -917.301688 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 231.95; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.19; MB_Bottom_Detect_Filter_Max_Range = 231.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 111.551553 meters # Minimum depth: 910.111395 meters looking forward 100.000000 meters along route # Maximum depth: 922.784013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.111395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.824128; longitude = -117.558403; captureRadius = 10; duration = 223; initialDepth = 869.334243; finalDepth = 860.111395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.987125 # Actual altitude: 57.987125 # Commanded vehicle depth: 860.111395 # Seafloor depth: -910.111395 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 231.95; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.19; MB_Bottom_Detect_Filter_Max_Range = 231.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 102.973441 meters # Minimum depth: 919.334243 meters looking forward 100.000000 meters along route # Maximum depth: 923.020034 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.334243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.823573; longitude = -117.557410; captureRadius = 10; duration = 205; initialDepth = 856.218997; finalDepth = 869.334243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.685791 # Actual altitude: 53.685791 # Commanded vehicle depth: 869.334243 # Seafloor depth: -923.020034 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.74; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 214.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 107.263143 meters # Minimum depth: 906.218997 meters looking forward 100.000000 meters along route # Maximum depth: 918.488680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 856.218997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.823060; longitude = -117.556492; captureRadius = 10; duration = 214; initialDepth = 852.578292; finalDepth = 856.218997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.2696830000001 # Actual altitude: 62.2696830000001 # Commanded vehicle depth: 856.218997 # Seafloor depth: -918.488680 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 249.08; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.91; MB_Bottom_Detect_Filter_Max_Range = 249.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 107.263575 meters # Minimum depth: 902.578292 meters looking forward 100.000000 meters along route # Maximum depth: 906.117204 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 852.578292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.822527; longitude = -117.555536; captureRadius = 10; duration = 214; initialDepth = 854.959052; finalDepth = 852.578292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.2696830000001 # Actual altitude: 62.2696830000001 # Commanded vehicle depth: 852.578292 # Seafloor depth: -906.117204 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 249.08; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.91; MB_Bottom_Detect_Filter_Max_Range = 249.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 107.264006 meters # Minimum depth: 904.959052 meters looking forward 100.000000 meters along route # Maximum depth: 907.556540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 854.959052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.821993; longitude = -117.554581; captureRadius = 10; duration = 214; initialDepth = 855.547364; finalDepth = 854.959052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.538912 # Actual altitude: 53.538912 # Commanded vehicle depth: 854.959052 # Seafloor depth: -905.665770 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.16; MB_Rate = 2; MB_Gain = 80; 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 = 214.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 114.414054 meters # Minimum depth: 905.547364 meters looking forward 100.000000 meters along route # Maximum depth: 907.409173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.547364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.821459; longitude = -117.553625; captureRadius = 10; duration = 228; initialDepth = 855.921805; finalDepth = 855.547364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.861809 # Actual altitude: 51.861809 # Commanded vehicle depth: 855.547364 # Seafloor depth: -907.409173 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.45; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.638335 meters # Minimum depth: 905.921805 meters looking forward 100.000000 meters along route # Maximum depth: 911.121562 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.921805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.820890; longitude = -117.552605; captureRadius = 10; duration = 209; initialDepth = 858.529923; finalDepth = 855.921805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.861809 # Actual altitude: 51.861809 # Commanded vehicle depth: 855.921805 # Seafloor depth: -905.921805 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 207.45; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 150.042557 meters # Minimum depth: 908.529923 meters looking forward 100.000000 meters along route # Maximum depth: 911.543869 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 858.529923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.820369; longitude = -117.551673; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 855.385032; finalDepth = 858.529923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 53.0139459999999 # Actual altitude: 53.0139459999999 # Commanded vehicle depth: 858.529923 # Seafloor depth: -911.543869 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 212.06; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 153.079518 meters # Minimum depth: 905.385032 meters looking forward 100.000000 meters along route # Maximum depth: 909.128708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.385032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.821498; longitude = -117.550789; captureRadius = 10; duration = 306; # abortOnTimeout = True; initialDepth = 851.022044; finalDepth = 855.385032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7436759999999 # Actual altitude: 53.7436759999999 # Commanded vehicle depth: 855.385032 # Seafloor depth: -909.128708 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.97; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.50; MB_Bottom_Detect_Filter_Max_Range = 214.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 110.678731 meters # Minimum depth: 901.022044 meters looking forward 100.000000 meters along route # Maximum depth: 906.222237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 851.022044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.822260; longitude = -117.552153; captureRadius = 10; duration = 221; initialDepth = 850.773608; finalDepth = 851.022044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1236339999999 # Actual altitude: 54.1236339999999 # Commanded vehicle depth: 851.022044 # Seafloor depth: -905.145678 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.49; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.65; MB_Bottom_Detect_Filter_Max_Range = 216.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 103.847481 meters # Minimum depth: 900.773608 meters looking forward 100.000000 meters along route # Maximum depth: 905.881012 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 850.773608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.822811; longitude = -117.553139; captureRadius = 10; duration = 207; initialDepth = 856.633232; finalDepth = 850.773608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1236339999999 # Actual altitude: 54.1236339999999 # Commanded vehicle depth: 850.773608 # Seafloor depth: -900.773608 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.49; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.65; MB_Bottom_Detect_Filter_Max_Range = 216.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 107.262459 meters # Minimum depth: 906.633232 meters looking forward 100.000000 meters along route # Maximum depth: 923.022846 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 856.633232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.823327; longitude = -117.554064; captureRadius = 10; duration = 214; initialDepth = 865.664620; finalDepth = 856.633232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 856.633232 # Seafloor depth: -906.633232 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 107.262028 meters # Minimum depth: 915.664620 meters looking forward 100.000000 meters along route # Maximum depth: 923.227845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.664620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.823861; longitude = -117.555020; captureRadius = 10; duration = 214; initialDepth = 861.960066; finalDepth = 865.664620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.563225 # Actual altitude: 57.563225 # Commanded vehicle depth: 865.66462 # Seafloor depth: -923.227845 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 230.25; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.03; MB_Bottom_Detect_Filter_Max_Range = 230.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 107.261597 meters # Minimum depth: 911.960066 meters looking forward 100.000000 meters along route # Maximum depth: 913.732106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 861.960066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.824395; longitude = -117.555976; captureRadius = 10; duration = 214; initialDepth = 858.215974; finalDepth = 861.960066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.563225 # Actual altitude: 57.563225 # Commanded vehicle depth: 861.960066 # Seafloor depth: -913.067462 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 230.25; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.03; MB_Bottom_Detect_Filter_Max_Range = 230.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 113.536666 meters # Minimum depth: 908.215974 meters looking forward 100.000000 meters along route # Maximum depth: 915.769826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 858.215974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.824929; longitude = -117.556932; captureRadius = 10; duration = 227; initialDepth = 857.545007; finalDepth = 858.215974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.092476 # Actual altitude: 54.092476 # Commanded vehicle depth: 858.215974 # Seafloor depth: -912.308450 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.37; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.64; MB_Bottom_Detect_Filter_Max_Range = 216.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.985235 meters # Minimum depth: 907.545007 meters looking forward 100.000000 meters along route # Maximum depth: 919.569765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 857.545007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.825494; longitude = -117.557943; captureRadius = 10; duration = 201; initialDepth = 855.240763; finalDepth = 857.545007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.092476 # Actual altitude: 54.092476 # Commanded vehicle depth: 857.545007 # Seafloor depth: -907.545007 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.37; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.64; MB_Bottom_Detect_Filter_Max_Range = 216.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 108.689134 meters # Minimum depth: 905.240763 meters looking forward 100.000000 meters along route # Maximum depth: 919.393090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.240763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.825996; longitude = -117.558843; captureRadius = 10; duration = 217; initialDepth = 854.352895; finalDepth = 855.240763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.152327 # Actual altitude: 64.152327 # Commanded vehicle depth: 855.240763 # Seafloor depth: -919.393090 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 256.61; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.66; MB_Bottom_Detect_Filter_Max_Range = 256.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 105.831041 meters # Minimum depth: 904.352895 meters looking forward 100.000000 meters along route # Maximum depth: 905.511893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 854.352895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.826537; longitude = -117.559812; captureRadius = 10; duration = 211; initialDepth = 847.008717; finalDepth = 854.352895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.152327 # Actual altitude: 64.152327 # Commanded vehicle depth: 854.352895 # Seafloor depth: -905.262900 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 256.61; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.66; MB_Bottom_Detect_Filter_Max_Range = 256.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 107.259441 meters # Minimum depth: 897.008717 meters looking forward 100.000000 meters along route # Maximum depth: 903.150621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 847.008717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.827064; longitude = -117.560755; captureRadius = 10; duration = 214; initialDepth = 845.788984; finalDepth = 847.008717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.141904 # Actual altitude: 56.141904 # Commanded vehicle depth: 847.008717 # Seafloor depth: -903.150621 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 224.57; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.46; MB_Bottom_Detect_Filter_Max_Range = 224.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 107.259010 meters # Minimum depth: 895.788984 meters looking forward 100.000000 meters along route # Maximum depth: 912.296497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 845.788984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.827598; longitude = -117.561710; captureRadius = 10; duration = 214; initialDepth = 864.397148; finalDepth = 845.788984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.141904 # Actual altitude: 56.141904 # Commanded vehicle depth: 845.788984 # Seafloor depth: -898.515276 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 224.57; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.46; MB_Bottom_Detect_Filter_Max_Range = 224.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 107.258579 meters # Minimum depth: 914.397148 meters looking forward 100.000000 meters along route # Maximum depth: 918.963507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 864.397148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828132; longitude = -117.562666; captureRadius = 10; duration = 214; initialDepth = 859.620888; finalDepth = 864.397148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7262919999999 # Actual altitude: 52.7262919999999 # Commanded vehicle depth: 864.397148 # Seafloor depth: -914.869572 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.91; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.09; MB_Bottom_Detect_Filter_Max_Range = 210.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 111.547029 meters # Minimum depth: 909.620888 meters looking forward 100.000000 meters along route # Maximum depth: 914.910675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.620888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828665; longitude = -117.563622; captureRadius = 10; duration = 223; initialDepth = 855.545087; finalDepth = 859.620888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7883499999999 # Actual altitude: 51.7883499999999 # Commanded vehicle depth: 859.620888 # Seafloor depth: -911.409238 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.15; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 207.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 102.968835 meters # Minimum depth: 905.545087 meters looking forward 100.000000 meters along route # Maximum depth: 913.293315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.545087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.829221; longitude = -117.564616; captureRadius = 10; duration = 205; initialDepth = 855.851984; finalDepth = 855.545087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.748228 # Actual altitude: 57.748228 # Commanded vehicle depth: 855.545087 # Seafloor depth: -913.293315 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 230.99; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.10; MB_Bottom_Detect_Filter_Max_Range = 230.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 107.257286 meters # Minimum depth: 905.851984 meters looking forward 100.000000 meters along route # Maximum depth: 908.358500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.851984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.829733; longitude = -117.565533; captureRadius = 10; duration = 214; initialDepth = 856.507877; finalDepth = 855.851984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.748228 # Actual altitude: 57.748228 # Commanded vehicle depth: 855.851984 # Seafloor depth: -905.851984 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 230.99; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.10; MB_Bottom_Detect_Filter_Max_Range = 230.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 107.256854 meters # Minimum depth: 906.507877 meters looking forward 100.000000 meters along route # Maximum depth: 908.284018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 856.507877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830267; longitude = -117.566489; captureRadius = 10; duration = 214; initialDepth = 857.136498; finalDepth = 856.507877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7761409999999 # Actual altitude: 51.7761409999999 # Commanded vehicle depth: 856.507877 # Seafloor depth: -908.284018 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.10; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 207.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 107.256424 meters # Minimum depth: 907.136498 meters looking forward 100.000000 meters along route # Maximum depth: 920.235845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 857.136498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830801; longitude = -117.567445; captureRadius = 10; duration = 214; initialDepth = 870.719124; finalDepth = 857.136498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7761409999999 # Actual altitude: 51.7761409999999 # Commanded vehicle depth: 857.136498 # Seafloor depth: -907.136498 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.10; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 207.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 114.404808 meters # Minimum depth: 920.719124 meters looking forward 100.000000 meters along route # Maximum depth: 932.197639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.719124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831334; longitude = -117.568400; captureRadius = 10; duration = 228; initialDepth = 882.408207; finalDepth = 870.719124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 870.719124 # Seafloor depth: -920.719124 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.106745 meters # Minimum depth: 932.408207 meters looking forward 100.000000 meters along route # Maximum depth: 943.635213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 882.408207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831904; longitude = -117.569420; captureRadius = 10; duration = 200; initialDepth = 895.658972; finalDepth = 882.408207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 882.408207 # Seafloor depth: -932.408207 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 109.557505 meters # Minimum depth: 945.658972 meters looking forward 100.000000 meters along route # Maximum depth: 960.584257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 895.658972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832402; longitude = -117.570312; captureRadius = 10; duration = 219; initialDepth = 911.209931; finalDepth = 895.658972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7758150000001 # Actual altitude: 50.7758150000001 # Commanded vehicle depth: 895.658972 # Seafloor depth: -946.434787 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.10; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.952325 meters # Minimum depth: 961.209931 meters looking forward 100.000000 meters along route # Maximum depth: 982.475385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 911.209931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832947; longitude = -117.571288; captureRadius = 10; duration = 209; initialDepth = 921.906451; finalDepth = 911.209931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7758150000001 # Actual altitude: 50.7758150000001 # Commanded vehicle depth: 911.209931 # Seafloor depth: -961.209931 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.10; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 107.254269 meters # Minimum depth: 971.906451 meters looking forward 100.000000 meters along route # Maximum depth: 1004.309138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.906451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.833470; longitude = -117.572223; captureRadius = 10; duration = 214; initialDepth = 921.085572; finalDepth = 921.906451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.020794 # Actual altitude: 65.020794 # Commanded vehicle depth: 921.906451 # Seafloor depth: -986.927245 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 260.08; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.01; MB_Bottom_Detect_Filter_Max_Range = 260.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 260.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 107.253837 meters # Minimum depth: 971.085572 meters looking forward 100.000000 meters along route # Maximum depth: 971.752062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.085572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.834003; longitude = -117.573179; captureRadius = 10; duration = 214; initialDepth = 911.586689; finalDepth = 921.085572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.020794 # Actual altitude: 65.020794 # Commanded vehicle depth: 921.085572 # Seafloor depth: -971.747305 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 260.08; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.01; MB_Bottom_Detect_Filter_Max_Range = 260.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 260.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 107.253407 meters # Minimum depth: 961.586689 meters looking forward 100.000000 meters along route # Maximum depth: 970.991908 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 911.586689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.834537; longitude = -117.574135; captureRadius = 10; duration = 214; initialDepth = 897.556447; finalDepth = 911.586689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.405219 # Actual altitude: 59.405219 # Commanded vehicle depth: 911.586689 # Seafloor depth: -970.991908 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 237.62; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.76; MB_Bottom_Detect_Filter_Max_Range = 237.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 112.415244 meters # Minimum depth: 947.556447 meters looking forward 100.000000 meters along route # Maximum depth: 962.242868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 897.556447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.835071; longitude = -117.575091; captureRadius = 10; duration = 224; initialDepth = 895.117725; finalDepth = 897.556447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.686421 # Actual altitude: 64.686421 # Commanded vehicle depth: 897.556447 # Seafloor depth: -962.242868 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 258.75; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.87; MB_Bottom_Detect_Filter_Max_Range = 258.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 258.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 102.090277 meters # Minimum depth: 945.117725 meters looking forward 100.000000 meters along route # Maximum depth: 948.808853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 895.117725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.835630; longitude = -117.576092; captureRadius = 10; duration = 204; initialDepth = 892.531029; finalDepth = 895.117725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.686421 # Actual altitude: 64.686421 # Commanded vehicle depth: 895.117725 # Seafloor depth: -947.353187 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 258.75; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.87; MB_Bottom_Detect_Filter_Max_Range = 258.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 258.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 107.568092 meters # Minimum depth: 942.531029 meters looking forward 100.000000 meters along route # Maximum depth: 948.806882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 892.531029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.836139; longitude = -117.577002; captureRadius = 10; duration = 215; initialDepth = 883.102572; finalDepth = 892.531029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.275853 # Actual altitude: 56.275853 # Commanded vehicle depth: 892.531029 # Seafloor depth: -948.806882 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 225.10; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.51; MB_Bottom_Detect_Filter_Max_Range = 225.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.935705 meters # Minimum depth: 933.102572 meters looking forward 100.000000 meters along route # Maximum depth: 942.578555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 883.102572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.836674; longitude = -117.577961; captureRadius = 10; duration = 213; initialDepth = 877.345227; finalDepth = 883.102572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.39698 # Actual altitude: 59.39698 # Commanded vehicle depth: 883.102572 # Seafloor depth: -942.499552 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 237.59; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.76; MB_Bottom_Detect_Filter_Max_Range = 237.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 107.251252 meters # Minimum depth: 927.345227 meters looking forward 100.000000 meters along route # Maximum depth: 930.207347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 877.345227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.837206; longitude = -117.578914; captureRadius = 10; duration = 214; initialDepth = 871.669108; finalDepth = 877.345227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.39698 # Actual altitude: 59.39698 # Commanded vehicle depth: 877.345227 # Seafloor depth: -930.207347 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 237.59; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.76; MB_Bottom_Detect_Filter_Max_Range = 237.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 115.272868 meters # Minimum depth: 921.669108 meters looking forward 100.000000 meters along route # Maximum depth: 929.090758 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.669108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.837740; longitude = -117.579869; captureRadius = 10; duration = 230; initialDepth = 860.286198; finalDepth = 871.669108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.883599 # Actual altitude: 55.883599 # Commanded vehicle depth: 871.669108 # Seafloor depth: -927.552707 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 223.53; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.35; MB_Bottom_Detect_Filter_Max_Range = 223.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 119.802565 meters # Minimum depth: 910.286198 meters looking forward 100.000000 meters along route # Maximum depth: 927.645173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.286198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.838314; longitude = -117.580897; captureRadius = 10; duration = 239; initialDepth = 862.410954; finalDepth = 860.286198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.8393139999999 # Actual altitude: 61.8393139999999 # Commanded vehicle depth: 860.286198 # Seafloor depth: -922.125512 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 247.36; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.74; MB_Bottom_Detect_Filter_Max_Range = 247.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 124.991291 meters # Minimum depth: 912.410954 meters looking forward 100.000000 meters along route # Maximum depth: 921.158502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 862.410954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.838910; longitude = -117.581964; captureRadius = 10; duration = 249; initialDepth = 862.224751; finalDepth = 862.410954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 61.8393139999999 # Actual altitude: 61.8393139999999 # Commanded vehicle depth: 862.410954 # Seafloor depth: -914.833376 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 247.36; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.74; MB_Bottom_Detect_Filter_Max_Range = 247.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 149.941182 meters # Minimum depth: 912.224751 meters looking forward 100.000000 meters along route # Maximum depth: 921.937534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 862.224751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.839532; longitude = -117.583078; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 857.970277; finalDepth = 862.224751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 52.4224220000001 # Actual altitude: 52.4224220000001 # Commanded vehicle depth: 862.224751 # Seafloor depth: -912.403488 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 209.69; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.97; MB_Bottom_Detect_Filter_Max_Range = 209.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 157.700906 meters # Minimum depth: 907.970277 meters looking forward 100.000000 meters along route # Maximum depth: 918.950791 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 857.970277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.840660; longitude = -117.582194; captureRadius = 10; duration = 315; # abortOnTimeout = True; initialDepth = 872.262915; finalDepth = 857.970277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.96324 # Actual altitude: 59.96324 # Commanded vehicle depth: 857.970277 # Seafloor depth: -917.933517 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 239.85; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.99; MB_Bottom_Detect_Filter_Max_Range = 239.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 107.693062 meters # Minimum depth: 922.262915 meters looking forward 100.000000 meters along route # Maximum depth: 932.067355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.262915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.839875; longitude = -117.580789; captureRadius = 10; duration = 215; initialDepth = 876.663376; finalDepth = 872.262915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.96324 # Actual altitude: 59.96324 # Commanded vehicle depth: 872.262915 # Seafloor depth: -922.262915 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 239.85; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.99; MB_Bottom_Detect_Filter_Max_Range = 239.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 106.806349 meters # Minimum depth: 926.663376 meters looking forward 100.000000 meters along route # Maximum depth: 930.842998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 876.663376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.839339; longitude = -117.579829; captureRadius = 10; duration = 213; initialDepth = 876.650146; finalDepth = 876.663376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.155118 # Actual altitude: 52.155118 # Commanded vehicle depth: 876.663376 # Seafloor depth: -928.818494 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.62; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 208.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 107.250351 meters # Minimum depth: 926.650146 meters looking forward 100.000000 meters along route # Maximum depth: 932.307228 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 876.650146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.838808; longitude = -117.578877; captureRadius = 10; duration = 214; initialDepth = 878.221987; finalDepth = 876.650146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.155118 # Actual altitude: 52.155118 # Commanded vehicle depth: 876.650146 # Seafloor depth: -926.650146 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.62; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 208.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 107.250783 meters # Minimum depth: 928.221987 meters looking forward 100.000000 meters along route # Maximum depth: 932.767024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 878.221987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.838274; longitude = -117.577921; captureRadius = 10; duration = 214; initialDepth = 887.800552; finalDepth = 878.221987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4978199999999 # Actual altitude: 50.4978199999999 # Commanded vehicle depth: 878.221987 # Seafloor depth: -928.719807 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.99; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 201.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 107.251213 meters # Minimum depth: 937.800552 meters looking forward 100.000000 meters along route # Maximum depth: 969.513216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 887.800552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.837740; longitude = -117.576966; captureRadius = 10; duration = 214; initialDepth = 898.381544; finalDepth = 887.800552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4978199999999 # Actual altitude: 50.4978199999999 # Commanded vehicle depth: 887.800552 # Seafloor depth: -937.800552 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.99; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 201.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 110.555143 meters # Minimum depth: 948.381544 meters looking forward 100.000000 meters along route # Maximum depth: 968.639648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 898.381544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.837206; longitude = -117.576010; captureRadius = 10; duration = 221; initialDepth = 896.850752; finalDepth = 898.381544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.258104 # Actual altitude: 70.258104 # Commanded vehicle depth: 898.381544 # Seafloor depth: -968.639648 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 281.03; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.10; MB_Bottom_Detect_Filter_Max_Range = 281.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 103.948577 meters # Minimum depth: 946.850752 meters looking forward 100.000000 meters along route # Maximum depth: 948.286284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 896.850752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.836656; longitude = -117.575025; captureRadius = 10; duration = 207; initialDepth = 897.246956; finalDepth = 896.850752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.258104 # Actual altitude: 70.258104 # Commanded vehicle depth: 896.850752 # Seafloor depth: -948.286284 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 281.03; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.10; MB_Bottom_Detect_Filter_Max_Range = 281.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 107.252506 meters # Minimum depth: 947.246956 meters looking forward 100.000000 meters along route # Maximum depth: 958.979671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 897.246956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.836139; longitude = -117.574099; captureRadius = 10; duration = 214; initialDepth = 909.132046; finalDepth = 897.246956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.435532 # Actual altitude: 51.435532 # Commanded vehicle depth: 897.246956 # Seafloor depth: -947.246956 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.74; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 107.252937 meters # Minimum depth: 959.132046 meters looking forward 100.000000 meters along route # Maximum depth: 967.500629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 909.132046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.835605; longitude = -117.573143; captureRadius = 10; duration = 214; initialDepth = 910.445408; finalDepth = 909.132046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 909.132046 # Seafloor depth: -959.132046 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 107.253368 meters # Minimum depth: 960.445408 meters looking forward 100.000000 meters along route # Maximum depth: 967.248730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 910.445408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.835071; longitude = -117.572187; captureRadius = 10; duration = 214; initialDepth = 916.075144; finalDepth = 910.445408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2859239999999 # Actual altitude: 51.2859239999999 # Commanded vehicle depth: 910.445408 # Seafloor depth: -961.731332 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.14; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 113.417338 meters # Minimum depth: 966.075144 meters looking forward 100.000000 meters along route # Maximum depth: 970.792045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 916.075144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.834537; longitude = -117.571231; captureRadius = 10; duration = 226; initialDepth = 915.873956; finalDepth = 916.075144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2859239999999 # Actual altitude: 51.2859239999999 # Commanded vehicle depth: 916.075144 # Seafloor depth: -966.075144 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.14; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 101.090691 meters # Minimum depth: 965.873956 meters looking forward 100.000000 meters along route # Maximum depth: 972.259751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.873956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.833973; longitude = -117.570221; captureRadius = 10; duration = 202; initialDepth = 901.518348; finalDepth = 915.873956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.028629 # Actual altitude: 54.028629 # Commanded vehicle depth: 915.873956 # Seafloor depth: -969.902585 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.11; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.61; MB_Bottom_Detect_Filter_Max_Range = 216.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 108.571866 meters # Minimum depth: 951.518348 meters looking forward 100.000000 meters along route # Maximum depth: 964.509873 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 901.518348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.833470; longitude = -117.569320; captureRadius = 10; duration = 217; initialDepth = 879.808427; finalDepth = 901.518348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.656592 # Actual altitude: 62.656592 # Commanded vehicle depth: 901.518348 # Seafloor depth: -964.174940 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 250.63; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.06; MB_Bottom_Detect_Filter_Max_Range = 250.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 105.937887 meters # Minimum depth: 929.808427 meters looking forward 100.000000 meters along route # Maximum depth: 950.997483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 879.808427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832929; longitude = -117.568352; captureRadius = 10; duration = 211; initialDepth = 862.496103; finalDepth = 879.808427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.1890559999999 # Actual altitude: 71.1890559999999 # Commanded vehicle depth: 879.808427 # Seafloor depth: -950.997483 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 284.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.48; MB_Bottom_Detect_Filter_Max_Range = 284.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 107.255524 meters # Minimum depth: 912.496103 meters looking forward 100.000000 meters along route # Maximum depth: 926.128525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 862.496103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832402; longitude = -117.567408; captureRadius = 10; duration = 214; initialDepth = 862.396054; finalDepth = 862.496103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.1890559999999 # Actual altitude: 71.1890559999999 # Commanded vehicle depth: 862.496103 # Seafloor depth: -926.128525 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 284.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.48; MB_Bottom_Detect_Filter_Max_Range = 284.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 107.255954 meters # Minimum depth: 912.396054 meters looking forward 100.000000 meters along route # Maximum depth: 943.042923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 862.396054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831868; longitude = -117.566453; captureRadius = 10; duration = 214; initialDepth = 866.544690; finalDepth = 862.396054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.632422 # Actual altitude: 63.632422 # Commanded vehicle depth: 862.396054 # Seafloor depth: -912.396054 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 254.53; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.45; MB_Bottom_Detect_Filter_Max_Range = 254.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 107.256385 meters # Minimum depth: 916.544690 meters looking forward 100.000000 meters along route # Maximum depth: 925.146653 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.544690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831334; longitude = -117.565497; captureRadius = 10; duration = 214; initialDepth = 876.253857; finalDepth = 866.544690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.372247 # Actual altitude: 55.372247 # Commanded vehicle depth: 866.54469 # Seafloor depth: -921.916937 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.49; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.15; MB_Bottom_Detect_Filter_Max_Range = 221.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 111.434103 meters # Minimum depth: 926.253857 meters looking forward 100.000000 meters along route # Maximum depth: 936.934960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 876.253857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830801; longitude = -117.564541; captureRadius = 10; duration = 222; initialDepth = 861.585755; finalDepth = 876.253857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.372247 # Actual altitude: 55.372247 # Commanded vehicle depth: 876.253857 # Seafloor depth: -926.253857 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.49; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.15; MB_Bottom_Detect_Filter_Max_Range = 221.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 103.079961 meters # Minimum depth: 911.585755 meters looking forward 100.000000 meters along route # Maximum depth: 934.347593 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 861.585755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830246; longitude = -117.563548; captureRadius = 10; duration = 206; initialDepth = 854.708223; finalDepth = 861.585755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.761838 # Actual altitude: 72.761838 # Commanded vehicle depth: 861.585755 # Seafloor depth: -934.347593 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 291.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.10; MB_Bottom_Detect_Filter_Max_Range = 291.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 107.257679 meters # Minimum depth: 904.708223 meters looking forward 100.000000 meters along route # Maximum depth: 915.844927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 854.708223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.829733; longitude = -117.562630; captureRadius = 10; duration = 214; initialDepth = 852.670322; finalDepth = 854.708223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.761838 # Actual altitude: 72.761838 # Commanded vehicle depth: 854.708223 # Seafloor depth: -915.844927 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 291.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.10; MB_Bottom_Detect_Filter_Max_Range = 291.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 107.258110 meters # Minimum depth: 902.670322 meters looking forward 100.000000 meters along route # Maximum depth: 905.444516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 852.670322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.829199; longitude = -117.561674; captureRadius = 10; duration = 214; initialDepth = 855.141899; finalDepth = 852.670322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.136704 # Actual altitude: 61.136704 # Commanded vehicle depth: 852.670322 # Seafloor depth: -905.034591 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 244.55; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.45; MB_Bottom_Detect_Filter_Max_Range = 244.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 244.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 107.258541 meters # Minimum depth: 905.141899 meters looking forward 100.000000 meters along route # Maximum depth: 907.070898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.141899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828665; longitude = -117.560718; captureRadius = 10; duration = 214; initialDepth = 857.529964; finalDepth = 855.141899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3642689999999 # Actual altitude: 52.3642689999999 # Commanded vehicle depth: 855.141899 # Seafloor depth: -906.800670 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.95; MB_Bottom_Detect_Filter_Max_Range = 209.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 114.296455 meters # Minimum depth: 907.529964 meters looking forward 100.000000 meters along route # Maximum depth: 912.884020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 857.529964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828132; longitude = -117.559762; captureRadius = 10; duration = 228; initialDepth = 856.552571; finalDepth = 857.529964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.658771 # Actual altitude: 51.658771 # Commanded vehicle depth: 857.529964 # Seafloor depth: -907.529964 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.64; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.221920 meters # Minimum depth: 906.552571 meters looking forward 100.000000 meters along route # Maximum depth: 911.772184 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 856.552571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.827563; longitude = -117.558744; captureRadius = 10; duration = 200; initialDepth = 861.627426; finalDepth = 856.552571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2196130000001 # Actual altitude: 55.2196130000001 # Commanded vehicle depth: 856.552571 # Seafloor depth: -911.772184 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.88; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.09; MB_Bottom_Detect_Filter_Max_Range = 220.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 109.450757 meters # Minimum depth: 911.627426 meters looking forward 100.000000 meters along route # Maximum depth: 922.284237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 861.627426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.827064; longitude = -117.557851; captureRadius = 10; duration = 218; initialDepth = 870.716869; finalDepth = 861.627426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2196130000001 # Actual altitude: 55.2196130000001 # Commanded vehicle depth: 861.627426 # Seafloor depth: -911.627426 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.88; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.09; MB_Bottom_Detect_Filter_Max_Range = 220.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 105.069343 meters # Minimum depth: 920.716869 meters looking forward 100.000000 meters along route # Maximum depth: 922.649696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.716869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.826519; longitude = -117.556876; captureRadius = 10; duration = 210; initialDepth = 871.103538; finalDepth = 870.716869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5911600000001 # Actual altitude: 51.5911600000001 # Commanded vehicle depth: 870.716869 # Seafloor depth: -922.308029 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.36; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 107.260697 meters # Minimum depth: 921.103538 meters looking forward 100.000000 meters along route # Maximum depth: 924.733013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.103538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.825996; longitude = -117.555939; captureRadius = 10; duration = 214; initialDepth = 873.712565; finalDepth = 871.103538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5911600000001 # Actual altitude: 51.5911600000001 # Commanded vehicle depth: 871.103538 # Seafloor depth: -921.103538 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.36; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 107.261129 meters # Minimum depth: 923.712565 meters looking forward 100.000000 meters along route # Maximum depth: 924.688622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.712565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.825463; longitude = -117.554984; captureRadius = 10; duration = 214; initialDepth = 859.935524; finalDepth = 873.712565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9470679999999 # Actual altitude: 50.9470679999999 # Commanded vehicle depth: 873.712565 # Seafloor depth: -924.659633 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 107.261559 meters # Minimum depth: 909.935524 meters looking forward 100.000000 meters along route # Maximum depth: 924.856469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.935524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.824929; longitude = -117.554028; captureRadius = 10; duration = 214; initialDepth = 854.545303; finalDepth = 859.935524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.920945 # Actual altitude: 64.920945 # Commanded vehicle depth: 859.935524 # Seafloor depth: -924.856469 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 259.68; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.97; MB_Bottom_Detect_Filter_Max_Range = 259.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 259.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 112.313150 meters # Minimum depth: 904.545303 meters looking forward 100.000000 meters along route # Maximum depth: 908.690564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 854.545303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.824395; longitude = -117.553072; captureRadius = 10; duration = 224; initialDepth = 854.792719; finalDepth = 854.545303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.920945 # Actual altitude: 64.920945 # Commanded vehicle depth: 854.545303 # Seafloor depth: -908.690564 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 259.68; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.97; MB_Bottom_Detect_Filter_Max_Range = 259.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 259.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 119.816120 meters # Minimum depth: 904.792719 meters looking forward 100.000000 meters along route # Maximum depth: 906.159334 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 854.792719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.823836; longitude = -117.552072; captureRadius = 10; duration = 239; initialDepth = 851.898365; finalDepth = 854.792719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.145261 # Actual altitude: 54.145261 # Commanded vehicle depth: 854.792719 # Seafloor depth: -905.044078 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.58; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.66; MB_Bottom_Detect_Filter_Max_Range = 216.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 123.335111 meters # Minimum depth: 901.898365 meters looking forward 100.000000 meters along route # Maximum depth: 908.183691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 851.898365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.823240; longitude = -117.551004; captureRadius = 10; duration = 246; initialDepth = 850.279383; finalDepth = 851.898365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.2853259999999 # Actual altitude: 56.2853259999999 # Commanded vehicle depth: 851.898365 # Seafloor depth: -908.183691 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 225.14; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.51; MB_Bottom_Detect_Filter_Max_Range = 225.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 150.000619 meters # Minimum depth: 900.279383 meters looking forward 100.000000 meters along route # Maximum depth: 905.345520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 850.279383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.822626; longitude = -117.549905; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 850.916762; finalDepth = 850.279383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 56.2853259999999 # Actual altitude: 56.2853259999999 # Commanded vehicle depth: 850.279383 # Seafloor depth: -905.345520 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 225.14; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.51; MB_Bottom_Detect_Filter_Max_Range = 225.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 75.168425 meters # Minimum depth: 900.916762 meters looking forward 100.000000 meters along route # Maximum depth: 905.013062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 850.916762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.823754; longitude = -117.549020; captureRadius = 10; duration = 150; # abortOnTimeout = True; initialDepth = 850.509343; finalDepth = 850.916762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0661369999999 # Actual altitude: 55.0661369999999 # Commanded vehicle depth: 850.916762 # Seafloor depth: -905.013062 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.26; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.03; MB_Bottom_Detect_Filter_Max_Range = 220.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 107.259911 meters # Minimum depth: 900.509343 meters looking forward 100.000000 meters along route # Maximum depth: 911.827523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 850.509343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.824128; longitude = -117.549690; captureRadius = 10; duration = 214; initialDepth = 859.030314; finalDepth = 850.509343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0963 # Actual altitude: 54.0963 # Commanded vehicle depth: 850.509343 # Seafloor depth: -900.903526 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.39; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.64; MB_Bottom_Detect_Filter_Max_Range = 216.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.259480 meters # Minimum depth: 909.030314 meters looking forward 100.000000 meters along route # Maximum depth: 914.761814 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.030314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.824662; longitude = -117.550645; captureRadius = 10; duration = 214; initialDepth = 858.117526; finalDepth = 859.030314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7315 # Actual altitude: 55.7315 # Commanded vehicle depth: 859.030314 # Seafloor depth: -914.761814 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.93; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.29; MB_Bottom_Detect_Filter_Max_Range = 222.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 112.693691 meters # Minimum depth: 908.117526 meters looking forward 100.000000 meters along route # Maximum depth: 913.976972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 858.117526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.825196; longitude = -117.551601; captureRadius = 10; duration = 225; initialDepth = 864.984153; finalDepth = 858.117526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7315 # Actual altitude: 55.7315 # Commanded vehicle depth: 858.117526 # Seafloor depth: -908.833896 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.93; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.29; MB_Bottom_Detect_Filter_Max_Range = 222.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 101.823976 meters # Minimum depth: 914.984153 meters looking forward 100.000000 meters along route # Maximum depth: 925.224586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 864.984153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.825757; longitude = -117.552605; captureRadius = 10; duration = 203; initialDepth = 874.236284; finalDepth = 864.984153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.71637 # Actual altitude: 50.71637 # Commanded vehicle depth: 864.984153 # Seafloor depth: -914.984153 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.87; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.851395 meters # Minimum depth: 924.236284 meters looking forward 100.000000 meters along route # Maximum depth: 929.744729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 874.236284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.826263; longitude = -117.553513; captureRadius = 10; duration = 215; initialDepth = 871.742226; finalDepth = 874.236284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1754880000001 # Actual altitude: 52.1754880000001 # Commanded vehicle depth: 874.236284 # Seafloor depth: -926.411772 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.70; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.87; MB_Bottom_Detect_Filter_Max_Range = 208.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 106.664546 meters # Minimum depth: 921.742226 meters looking forward 100.000000 meters along route # Maximum depth: 924.753086 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.742226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.826800; longitude = -117.554474; captureRadius = 10; duration = 213; initialDepth = 863.857459; finalDepth = 871.742226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.424628 # Actual altitude: 52.424628 # Commanded vehicle depth: 871.742226 # Seafloor depth: -924.166854 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.70; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.97; MB_Bottom_Detect_Filter_Max_Range = 209.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.257324 meters # Minimum depth: 913.857459 meters looking forward 100.000000 meters along route # Maximum depth: 922.718456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 863.857459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.827331; longitude = -117.555424; captureRadius = 10; duration = 214; initialDepth = 858.116077; finalDepth = 863.857459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.860997 # Actual altitude: 58.860997 # Commanded vehicle depth: 863.857459 # Seafloor depth: -922.718456 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 235.44; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.54; MB_Bottom_Detect_Filter_Max_Range = 235.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.256893 meters # Minimum depth: 908.116077 meters looking forward 100.000000 meters along route # Maximum depth: 913.374401 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 858.116077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.827865; longitude = -117.556380; captureRadius = 10; duration = 214; initialDepth = 854.013199; finalDepth = 858.116077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.860997 # Actual altitude: 58.860997 # Commanded vehicle depth: 858.116077 # Seafloor depth: -913.374401 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 235.44; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.54; MB_Bottom_Detect_Filter_Max_Range = 235.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.256461 meters # Minimum depth: 904.013199 meters looking forward 100.000000 meters along route # Maximum depth: 910.817366 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 854.013199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828398; longitude = -117.557335; captureRadius = 10; duration = 214; initialDepth = 852.114108; finalDepth = 854.013199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.5804450000001 # Actual altitude: 55.5804450000001 # Commanded vehicle depth: 854.013199 # Seafloor depth: -909.593644 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.32; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.23; MB_Bottom_Detect_Filter_Max_Range = 222.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 110.722447 meters # Minimum depth: 902.114108 meters looking forward 100.000000 meters along route # Maximum depth: 903.974789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 852.114108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828932; longitude = -117.558291; captureRadius = 10; duration = 221; initialDepth = 850.779377; finalDepth = 852.114108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.5804450000001 # Actual altitude: 55.5804450000001 # Commanded vehicle depth: 852.114108 # Seafloor depth: -903.368095 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.32; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.23; MB_Bottom_Detect_Filter_Max_Range = 222.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 103.789182 meters # Minimum depth: 900.779377 meters looking forward 100.000000 meters along route # Maximum depth: 901.973369 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 850.779377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.829483; longitude = -117.559278; captureRadius = 10; duration = 207; initialDepth = 849.534729; finalDepth = 850.779377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2539870000001 # Actual altitude: 51.2539870000001 # Commanded vehicle depth: 850.779377 # Seafloor depth: -901.973369 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.02; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 205.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.255168 meters # Minimum depth: 899.534729 meters looking forward 100.000000 meters along route # Maximum depth: 902.915327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 849.534729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830000; longitude = -117.560203; captureRadius = 10; duration = 214; initialDepth = 847.334871; finalDepth = 849.534729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3108050000001 # Actual altitude: 51.3108050000001 # Commanded vehicle depth: 849.534729 # Seafloor depth: -900.845534 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.24; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.254737 meters # Minimum depth: 897.334871 meters looking forward 100.000000 meters along route # Maximum depth: 902.947845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 847.334871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830534; longitude = -117.561158; captureRadius = 10; duration = 214; initialDepth = 853.193011; finalDepth = 847.334871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.612974 # Actual altitude: 55.612974 # Commanded vehicle depth: 847.334871 # Seafloor depth: -902.947845 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.45; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.25; MB_Bottom_Detect_Filter_Max_Range = 222.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.254306 meters # Minimum depth: 903.193011 meters looking forward 100.000000 meters along route # Maximum depth: 909.371256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 853.193011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831067; longitude = -117.562114; captureRadius = 10; duration = 214; initialDepth = 858.268535; finalDepth = 853.193011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.612974 # Actual altitude: 55.612974 # Commanded vehicle depth: 853.193011 # Seafloor depth: -903.193011 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.45; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.25; MB_Bottom_Detect_Filter_Max_Range = 222.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 113.593383 meters # Minimum depth: 908.268535 meters looking forward 100.000000 meters along route # Maximum depth: 915.277103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 858.268535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831601; longitude = -117.563070; captureRadius = 10; duration = 227; initialDepth = 860.297161; finalDepth = 858.268535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4685519999999 # Actual altitude: 52.4685519999999 # Commanded vehicle depth: 858.268535 # Seafloor depth: -910.737087 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.87; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.99; MB_Bottom_Detect_Filter_Max_Range = 209.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.913934 meters # Minimum depth: 910.297161 meters looking forward 100.000000 meters along route # Maximum depth: 916.933486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.297161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832167; longitude = -117.564082; captureRadius = 10; duration = 201; initialDepth = 858.362251; finalDepth = 860.297161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.030782 # Actual altitude: 56.030782 # Commanded vehicle depth: 860.297161 # Seafloor depth: -916.327943 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 224.12; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.41; MB_Bottom_Detect_Filter_Max_Range = 224.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 108.751314 meters # Minimum depth: 908.362251 meters looking forward 100.000000 meters along route # Maximum depth: 921.181425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 858.362251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832669; longitude = -117.564981; captureRadius = 10; duration = 217; initialDepth = 871.457104; finalDepth = 858.362251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.030782 # Actual altitude: 56.030782 # Commanded vehicle depth: 858.362251 # Seafloor depth: -910.015818 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 224.12; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.41; MB_Bottom_Detect_Filter_Max_Range = 224.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 105.754280 meters # Minimum depth: 921.457104 meters looking forward 100.000000 meters along route # Maximum depth: 950.128550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.457104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.833210; longitude = -117.565950; captureRadius = 10; duration = 211; initialDepth = 908.243613; finalDepth = 871.457104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.653567 # Actual altitude: 51.653567 # Commanded vehicle depth: 871.457104 # Seafloor depth: -921.457104 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.61; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.252150 meters # Minimum depth: 958.243613 meters looking forward 100.000000 meters along route # Maximum depth: 974.249608 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 908.243613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.833736; longitude = -117.566893; captureRadius = 10; duration = 214; initialDepth = 922.005967; finalDepth = 908.243613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 908.243613 # Seafloor depth: -958.243613 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.251719 meters # Minimum depth: 972.005967 meters looking forward 100.000000 meters along route # Maximum depth: 974.262963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.005967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.834270; longitude = -117.567848; captureRadius = 10; duration = 214; initialDepth = 919.943903; finalDepth = 922.005967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.256996 # Actual altitude: 52.256996 # Commanded vehicle depth: 922.005967 # Seafloor depth: -974.262963 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.03; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 209.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.251288 meters # Minimum depth: 969.943903 meters looking forward 100.000000 meters along route # Maximum depth: 972.431169 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.943903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.834804; longitude = -117.568804; captureRadius = 10; duration = 214; initialDepth = 912.223355; finalDepth = 919.943903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.256996 # Actual altitude: 52.256996 # Commanded vehicle depth: 919.943903 # Seafloor depth: -970.042023 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.03; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 209.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 111.622210 meters # Minimum depth: 962.223355 meters looking forward 100.000000 meters along route # Maximum depth: 971.844914 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 912.223355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.835338; longitude = -117.569760; captureRadius = 10; duration = 223; initialDepth = 899.034077; finalDepth = 912.223355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.621559 # Actual altitude: 59.621559 # Commanded vehicle depth: 912.223355 # Seafloor depth: -971.844914 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 238.49; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.85; MB_Bottom_Detect_Filter_Max_Range = 238.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 102.879073 meters # Minimum depth: 949.034077 meters looking forward 100.000000 meters along route # Maximum depth: 961.948542 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 899.034077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.835893; longitude = -117.570754; captureRadius = 10; duration = 205; initialDepth = 896.235496; finalDepth = 899.034077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.914465 # Actual altitude: 62.914465 # Commanded vehicle depth: 899.034077 # Seafloor depth: -961.948542 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 251.66; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.17; MB_Bottom_Detect_Filter_Max_Range = 251.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.249994 meters # Minimum depth: 946.235496 meters looking forward 100.000000 meters along route # Maximum depth: 951.749970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 896.235496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.836405; longitude = -117.571671; captureRadius = 10; duration = 214; initialDepth = 897.508550; finalDepth = 896.235496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.914465 # Actual altitude: 62.914465 # Commanded vehicle depth: 896.235496 # Seafloor depth: -947.115148 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 251.66; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.17; MB_Bottom_Detect_Filter_Max_Range = 251.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.249564 meters # Minimum depth: 947.508550 meters looking forward 100.000000 meters along route # Maximum depth: 951.436044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 897.508550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.836939; longitude = -117.572627; captureRadius = 10; duration = 214; initialDepth = 888.506805; finalDepth = 897.508550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.927494 # Actual altitude: 53.927494 # Commanded vehicle depth: 897.50855 # Seafloor depth: -951.436044 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 215.71; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.57; MB_Bottom_Detect_Filter_Max_Range = 215.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.249133 meters # Minimum depth: 938.506805 meters looking forward 100.000000 meters along route # Maximum depth: 945.446295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 888.506805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.837473; longitude = -117.573583; captureRadius = 10; duration = 214; initialDepth = 889.726857; finalDepth = 888.506805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.93949 # Actual altitude: 56.93949 # Commanded vehicle depth: 888.506805 # Seafloor depth: -945.446295 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 227.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.78; MB_Bottom_Detect_Filter_Max_Range = 227.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 114.492991 meters # Minimum depth: 939.726857 meters looking forward 100.000000 meters along route # Maximum depth: 946.186456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 889.726857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.838007; longitude = -117.574538; captureRadius = 10; duration = 228; initialDepth = 883.444744; finalDepth = 889.726857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.93949 # Actual altitude: 56.93949 # Commanded vehicle depth: 889.726857 # Seafloor depth: -939.953521 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 227.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.78; MB_Bottom_Detect_Filter_Max_Range = 227.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.003983 meters # Minimum depth: 933.444744 meters looking forward 100.000000 meters along route # Maximum depth: 943.710463 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 883.444744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.838577; longitude = -117.575559; captureRadius = 10; duration = 200; initialDepth = 881.179140; finalDepth = 883.444744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.208084 # Actual altitude: 57.208084 # Commanded vehicle depth: 883.444744 # Seafloor depth: -940.652828 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 228.83; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.88; MB_Bottom_Detect_Filter_Max_Range = 228.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 109.651148 meters # Minimum depth: 931.179140 meters looking forward 100.000000 meters along route # Maximum depth: 948.549489 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 881.179140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.839074; longitude = -117.576450; captureRadius = 10; duration = 219; initialDepth = 876.717521; finalDepth = 881.179140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.208084 # Actual altitude: 57.208084 # Commanded vehicle depth: 881.17914 # Seafloor depth: -931.179140 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 228.83; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.88; MB_Bottom_Detect_Filter_Max_Range = 228.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.844101 meters # Minimum depth: 926.717521 meters looking forward 100.000000 meters along route # Maximum depth: 948.406935 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 876.717521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.839620; longitude = -117.577427; captureRadius = 10; duration = 209; initialDepth = 873.529480; finalDepth = 876.717521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.6894139999999 # Actual altitude: 71.6894139999999 # Commanded vehicle depth: 876.717521 # Seafloor depth: -948.406935 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 286.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.68; MB_Bottom_Detect_Filter_Max_Range = 286.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.246979 meters # Minimum depth: 923.529480 meters looking forward 100.000000 meters along route # Maximum depth: 935.274094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.529480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.840142; longitude = -117.578361; captureRadius = 10; duration = 214; initialDepth = 863.402864; finalDepth = 873.529480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.6894139999999 # Actual altitude: 71.6894139999999 # Commanded vehicle depth: 873.52948 # Seafloor depth: -926.748427 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 286.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.68; MB_Bottom_Detect_Filter_Max_Range = 286.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 117.363655 meters # Minimum depth: 913.402864 meters looking forward 100.000000 meters along route # Maximum depth: 922.978779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 863.402864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.840676; longitude = -117.579317; captureRadius = 10; duration = 234; initialDepth = 856.818057; finalDepth = 863.402864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.575915 # Actual altitude: 59.575915 # Commanded vehicle depth: 863.402864 # Seafloor depth: -922.978779 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 238.30; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.83; MB_Bottom_Detect_Filter_Max_Range = 238.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 106.293784 meters # Minimum depth: 906.818057 meters looking forward 100.000000 meters along route # Maximum depth: 937.794415 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 856.818057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.841260; longitude = -117.580363; captureRadius = 10; duration = 212; initialDepth = 856.961804; finalDepth = 856.818057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 66.0585010000001 # Actual altitude: 66.0585010000001 # Commanded vehicle depth: 856.818057 # Seafloor depth: -922.876558 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 264.23; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.42; MB_Bottom_Detect_Filter_Max_Range = 264.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 150.084127 meters # Minimum depth: 906.961804 meters looking forward 100.000000 meters along route # Maximum depth: 928.063418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 856.961804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.841789; longitude = -117.581310; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 856.961804; finalDepth = 856.961804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 66.0585010000001 # Actual altitude: 66.0585010000001 # Commanded vehicle depth: 856.961804 # Seafloor depth: -907.263214 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 264.23; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.42; MB_Bottom_Detect_Filter_Max_Range = 264.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 75.122740 meters # Minimum depth: 906.961804 meters looking forward 100.000000 meters along route # Maximum depth: 916.588400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 856.961804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.842918; longitude = -117.580425; captureRadius = 10; duration = 150; # abortOnTimeout = True; initialDepth = 860.505628; finalDepth = 856.961804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.5294369999999 # Actual altitude: 57.5294369999999 # Commanded vehicle depth: 856.961804 # Seafloor depth: -914.491241 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 230.12; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.01; MB_Bottom_Detect_Filter_Max_Range = 230.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 111.561683 meters # Minimum depth: 910.505628 meters looking forward 100.000000 meters along route # Maximum depth: 925.224817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.505628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.842544; longitude = -117.579756; captureRadius = 10; duration = 223; initialDepth = 860.284895; finalDepth = 860.505628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.533895 # Actual altitude: 57.533895 # Commanded vehicle depth: 860.505628 # Seafloor depth: -918.039523 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 230.14; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.01; MB_Bottom_Detect_Filter_Max_Range = 230.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 102.924990 meters # Minimum depth: 910.284895 meters looking forward 100.000000 meters along route # Maximum depth: 922.936726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.284895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.841989; longitude = -117.578761; captureRadius = 10; duration = 205; initialDepth = 874.561990; finalDepth = 860.284895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.533895 # Actual altitude: 57.533895 # Commanded vehicle depth: 860.284895 # Seafloor depth: -910.284895 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 230.14; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.01; MB_Bottom_Detect_Filter_Max_Range = 230.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.243983 meters # Minimum depth: 924.561990 meters looking forward 100.000000 meters along route # Maximum depth: 945.550001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 874.561990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.841476; longitude = -117.577844; captureRadius = 10; duration = 214; initialDepth = 879.659521; finalDepth = 874.561990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 874.56199 # Seafloor depth: -924.561990 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.244414 meters # Minimum depth: 929.659521 meters looking forward 100.000000 meters along route # Maximum depth: 945.691098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 879.659521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.840943; longitude = -117.576888; captureRadius = 10; duration = 214; initialDepth = 875.784677; finalDepth = 879.659521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.031577 # Actual altitude: 66.031577 # Commanded vehicle depth: 879.659521 # Seafloor depth: -945.691098 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 264.13; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.41; MB_Bottom_Detect_Filter_Max_Range = 264.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.244845 meters # Minimum depth: 925.784677 meters looking forward 100.000000 meters along route # Maximum depth: 930.555972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 875.784677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.840409; longitude = -117.575933; captureRadius = 10; duration = 214; initialDepth = 875.849267; finalDepth = 875.784677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.031577 # Actual altitude: 66.031577 # Commanded vehicle depth: 875.784677 # Seafloor depth: -929.517596 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 264.13; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.41; MB_Bottom_Detect_Filter_Max_Range = 264.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 114.453566 meters # Minimum depth: 925.849267 meters looking forward 100.000000 meters along route # Maximum depth: 939.087371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 875.849267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.839875; longitude = -117.574977; captureRadius = 10; duration = 228; initialDepth = 879.278318; finalDepth = 875.849267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.732919 # Actual altitude: 53.732919 # Commanded vehicle depth: 875.849267 # Seafloor depth: -925.849267 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.93; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.49; MB_Bottom_Detect_Filter_Max_Range = 214.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.037417 meters # Minimum depth: 929.278318 meters looking forward 100.000000 meters along route # Maximum depth: 938.862830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 879.278318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.839305; longitude = -117.573957; captureRadius = 10; duration = 200; initialDepth = 883.674260; finalDepth = 879.278318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.584512 # Actual altitude: 59.584512 # Commanded vehicle depth: 879.278318 # Seafloor depth: -938.862830 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 238.34; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.83; MB_Bottom_Detect_Filter_Max_Range = 238.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 109.620111 meters # Minimum depth: 933.674260 meters looking forward 100.000000 meters along route # Maximum depth: 939.142875 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 883.674260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.838808; longitude = -117.573066; captureRadius = 10; duration = 219; initialDepth = 884.998925; finalDepth = 883.674260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.584512 # Actual altitude: 59.584512 # Commanded vehicle depth: 883.67426 # Seafloor depth: -933.674260 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 238.34; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.83; MB_Bottom_Detect_Filter_Max_Range = 238.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.872595 meters # Minimum depth: 934.998925 meters looking forward 100.000000 meters along route # Maximum depth: 942.969436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 884.998925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.838262; longitude = -117.572089; captureRadius = 10; duration = 209; initialDepth = 892.490669; finalDepth = 884.998925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 884.998925 # Seafloor depth: -934.998925 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.247000 meters # Minimum depth: 942.490669 meters looking forward 100.000000 meters along route # Maximum depth: 945.809472 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 892.490669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.837740; longitude = -117.571154; captureRadius = 10; duration = 214; initialDepth = 895.812303; finalDepth = 892.490669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.452763 # Actual altitude: 50.452763 # Commanded vehicle depth: 892.490669 # Seafloor depth: -942.943432 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.81; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.247431 meters # Minimum depth: 945.812303 meters looking forward 100.000000 meters along route # Maximum depth: 953.038640 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 895.812303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.837206; longitude = -117.570199; captureRadius = 10; duration = 214; initialDepth = 905.069387; finalDepth = 895.812303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.452763 # Actual altitude: 50.452763 # Commanded vehicle depth: 895.812303 # Seafloor depth: -945.812303 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.81; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.247862 meters # Minimum depth: 955.069387 meters looking forward 100.000000 meters along route # Maximum depth: 964.974567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 905.069387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.836672; longitude = -117.569243; captureRadius = 10; duration = 214; initialDepth = 915.340031; finalDepth = 905.069387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 905.069387 # Seafloor depth: -955.069387 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 112.512036 meters # Minimum depth: 965.340031 meters looking forward 100.000000 meters along route # Maximum depth: 968.345865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.340031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.836139; longitude = -117.568287; captureRadius = 10; duration = 225; initialDepth = 918.229694; finalDepth = 915.340031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 915.340031 # Seafloor depth: -965.340031 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 101.984981 meters # Minimum depth: 968.229694 meters looking forward 100.000000 meters along route # Maximum depth: 972.682014 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.229694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.835579; longitude = -117.567285; captureRadius = 10; duration = 203; initialDepth = 906.564213; finalDepth = 918.229694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1130880000001 # Actual altitude: 50.1130880000001 # Commanded vehicle depth: 918.229694 # Seafloor depth: -968.342782 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.45; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.05; MB_Bottom_Detect_Filter_Max_Range = 200.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.678430 meters # Minimum depth: 956.564213 meters looking forward 100.000000 meters along route # Maximum depth: 972.512638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 906.564213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.835071; longitude = -117.566376; captureRadius = 10; duration = 215; initialDepth = 879.810397; finalDepth = 906.564213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.948425 # Actual altitude: 65.948425 # Commanded vehicle depth: 906.564213 # Seafloor depth: -972.512638 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 263.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.38; MB_Bottom_Detect_Filter_Max_Range = 263.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 106.820311 meters # Minimum depth: 929.810397 meters looking forward 100.000000 meters along route # Maximum depth: 956.428293 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 879.810397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.834535; longitude = -117.565416; captureRadius = 10; duration = 213; initialDepth = 854.982686; finalDepth = 879.810397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.6178960000001 # Actual altitude: 76.6178960000001 # Commanded vehicle depth: 879.810397 # Seafloor depth: -956.428293 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 306.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.65; MB_Bottom_Detect_Filter_Max_Range = 306.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.250017 meters # Minimum depth: 904.982686 meters looking forward 100.000000 meters along route # Maximum depth: 924.948393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 854.982686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.834003; longitude = -117.564465; captureRadius = 10; duration = 214; initialDepth = 845.730988; finalDepth = 854.982686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.6178960000001 # Actual altitude: 76.6178960000001 # Commanded vehicle depth: 854.982686 # Seafloor depth: -924.948393 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 306.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.65; MB_Bottom_Detect_Filter_Max_Range = 306.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.250448 meters # Minimum depth: 895.730988 meters looking forward 100.000000 meters along route # Maximum depth: 904.664408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 845.730988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.833470; longitude = -117.563509; captureRadius = 10; duration = 214; initialDepth = 845.755089; finalDepth = 845.730988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.9657070000001 # Actual altitude: 69.9657070000001 # Commanded vehicle depth: 845.730988 # Seafloor depth: -904.664408 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 279.86; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.99; MB_Bottom_Detect_Filter_Max_Range = 279.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.250880 meters # Minimum depth: 895.755089 meters looking forward 100.000000 meters along route # Maximum depth: 902.617882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 845.755089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832936; longitude = -117.562553; captureRadius = 10; duration = 214; initialDepth = 848.314902; finalDepth = 845.755089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.93342 # Actual altitude: 58.93342 # Commanded vehicle depth: 845.755089 # Seafloor depth: -895.755089 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 235.73; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.57; MB_Bottom_Detect_Filter_Max_Range = 235.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 110.570397 meters # Minimum depth: 898.314902 meters looking forward 100.000000 meters along route # Maximum depth: 903.082244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 848.314902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832402; longitude = -117.561598; captureRadius = 10; duration = 221; initialDepth = 846.659316; finalDepth = 848.314902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.448126 # Actual altitude: 53.448126 # Commanded vehicle depth: 848.314902 # Seafloor depth: -901.763028 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.38; MB_Bottom_Detect_Filter_Max_Range = 213.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 103.932655 meters # Minimum depth: 896.659316 meters looking forward 100.000000 meters along route # Maximum depth: 898.384150 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 846.659316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831852; longitude = -117.560612; captureRadius = 10; duration = 207; initialDepth = 848.872091; finalDepth = 846.659316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.448126 # Actual altitude: 53.448126 # Commanded vehicle depth: 846.659316 # Seafloor depth: -898.384150 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.38; MB_Bottom_Detect_Filter_Max_Range = 213.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.252173 meters # Minimum depth: 898.872091 meters looking forward 100.000000 meters along route # Maximum depth: 901.264045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 848.872091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831334; longitude = -117.559686; captureRadius = 10; duration = 214; initialDepth = 851.320804; finalDepth = 848.872091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.724834 # Actual altitude: 51.724834 # Commanded vehicle depth: 848.872091 # Seafloor depth: -898.872091 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.90; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.252604 meters # Minimum depth: 901.320804 meters looking forward 100.000000 meters along route # Maximum depth: 902.643301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 851.320804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830801; longitude = -117.558730; captureRadius = 10; duration = 214; initialDepth = 851.479610; finalDepth = 851.320804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 851.320804 # Seafloor depth: -901.320804 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.253035 meters # Minimum depth: 901.479610 meters looking forward 100.000000 meters along route # Maximum depth: 906.500730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 851.479610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830267; longitude = -117.557775; captureRadius = 10; duration = 214; initialDepth = 855.033132; finalDepth = 851.479610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 851.47961 # Seafloor depth: -901.479610 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 113.462482 meters # Minimum depth: 905.033132 meters looking forward 100.000000 meters along route # Maximum depth: 911.704200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.033132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.829733; longitude = -117.556819; captureRadius = 10; duration = 226; initialDepth = 862.217806; finalDepth = 855.033132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 855.033132 # Seafloor depth: -905.033132 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 101.044883 meters # Minimum depth: 912.217806 meters looking forward 100.000000 meters along route # Maximum depth: 915.009620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 862.217806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.829168; longitude = -117.555808; captureRadius = 10; duration = 202; initialDepth = 865.904074; finalDepth = 862.217806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 862.217806 # Seafloor depth: -912.217806 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 108.628650 meters # Minimum depth: 915.904074 meters looking forward 100.000000 meters along route # Maximum depth: 924.311681 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.904074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828665; longitude = -117.554908; captureRadius = 10; duration = 217; initialDepth = 873.972110; finalDepth = 865.904074; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 865.904074 # Seafloor depth: -915.904074 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 105.880439 meters # Minimum depth: 923.972110 meters looking forward 100.000000 meters along route # Maximum depth: 925.062750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.972110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828125; longitude = -117.553940; captureRadius = 10; duration = 211; initialDepth = 871.807411; finalDepth = 873.972110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 873.97211 # Seafloor depth: -923.972110 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.255192 meters # Minimum depth: 921.807411 meters looking forward 100.000000 meters along route # Maximum depth: 925.753725 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.807411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.827598; longitude = -117.552996; captureRadius = 10; duration = 214; initialDepth = 860.594485; finalDepth = 871.807411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.207433 # Actual altitude: 53.207433 # Commanded vehicle depth: 871.807411 # Seafloor depth: -925.014844 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.83; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.255623 meters # Minimum depth: 910.594485 meters looking forward 100.000000 meters along route # Maximum depth: 921.410607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.594485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.827064; longitude = -117.552041; captureRadius = 10; duration = 214; initialDepth = 857.614479; finalDepth = 860.594485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.8161220000001 # Actual altitude: 60.8161220000001 # Commanded vehicle depth: 860.594485 # Seafloor depth: -921.410607 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 243.26; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.33; MB_Bottom_Detect_Filter_Max_Range = 243.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.256054 meters # Minimum depth: 907.614479 meters looking forward 100.000000 meters along route # Maximum depth: 908.517623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 857.614479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.826530; longitude = -117.551085; captureRadius = 10; duration = 214; initialDepth = 855.432564; finalDepth = 857.614479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.8161220000001 # Actual altitude: 60.8161220000001 # Commanded vehicle depth: 857.614479 # Seafloor depth: -908.264910 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 243.26; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.33; MB_Bottom_Detect_Filter_Max_Range = 243.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 111.520777 meters # Minimum depth: 905.432564 meters looking forward 100.000000 meters along route # Maximum depth: 910.132302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.432564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.825996; longitude = -117.550129; captureRadius = 10; duration = 223; initialDepth = 852.294682; finalDepth = 855.432564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.19781 # Actual altitude: 52.19781 # Commanded vehicle depth: 855.432564 # Seafloor depth: -907.630374 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 112.191773 meters # Minimum depth: 902.294682 meters looking forward 100.000000 meters along route # Maximum depth: 905.365087 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 852.294682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.825441; longitude = -117.549136; captureRadius = 10; duration = 224; initialDepth = 854.467052; finalDepth = 852.294682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.0704050000001 # Actual altitude: 53.0704050000001 # Commanded vehicle depth: 852.294682 # Seafloor depth: -905.365087 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 212.28; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.23; MB_Bottom_Detect_Filter_Max_Range = 212.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 149.999467 meters # Minimum depth: 904.467052 meters looking forward 100.000000 meters along route # Maximum depth: 906.248026 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 854.467052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.824883; longitude = -117.548136; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 854.006173; finalDepth = 854.467052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 53.0704050000001 # Actual altitude: 53.0704050000001 # Commanded vehicle depth: 854.467052 # Seafloor depth: -905.116653 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 212.28; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.23; MB_Bottom_Detect_Filter_Max_Range = 212.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 157.948861 meters # Minimum depth: 904.006173 meters looking forward 100.000000 meters along route # Maximum depth: 907.267851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 854.006173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.826011; longitude = -117.547251; captureRadius = 10; duration = 315; # abortOnTimeout = True; initialDepth = 855.456585; finalDepth = 854.006173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.002158 # Actual altitude: 51.002158 # Commanded vehicle depth: 854.006173 # Seafloor depth: -905.008331 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.01; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 204.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 113.469441 meters # Minimum depth: 905.456585 meters looking forward 100.000000 meters along route # Maximum depth: 907.826959 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.456585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.826797; longitude = -117.548658; captureRadius = 10; duration = 226; initialDepth = 854.639970; finalDepth = 855.456585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.453359 # Actual altitude: 51.453359 # Commanded vehicle depth: 855.456585 # Seafloor depth: -906.909944 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.81; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 101.045490 meters # Minimum depth: 904.639970 meters looking forward 100.000000 meters along route # Maximum depth: 909.597923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 854.639970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.827362; longitude = -117.549669; captureRadius = 10; duration = 202; initialDepth = 860.936461; finalDepth = 854.639970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.453359 # Actual altitude: 51.453359 # Commanded vehicle depth: 854.63997 # Seafloor depth: -904.859116 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.81; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 108.627200 meters # Minimum depth: 910.936461 meters looking forward 100.000000 meters along route # Maximum depth: 919.774965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.936461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.827865; longitude = -117.550570; captureRadius = 10; duration = 217; initialDepth = 869.893062; finalDepth = 860.936461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.219146 # Actual altitude: 50.219146 # Commanded vehicle depth: 860.936461 # Seafloor depth: -910.936461 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.88; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 105.886004 meters # Minimum depth: 919.893062 meters looking forward 100.000000 meters along route # Maximum depth: 923.407336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.893062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828405; longitude = -117.551538; captureRadius = 10; duration = 211; initialDepth = 872.484890; finalDepth = 869.893062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 869.893062 # Seafloor depth: -919.893062 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.255956 meters # Minimum depth: 922.484890 meters looking forward 100.000000 meters along route # Maximum depth: 924.916918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.484890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828932; longitude = -117.552481; captureRadius = 10; duration = 214; initialDepth = 863.851236; finalDepth = 872.484890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.306152 # Actual altitude: 51.306152 # Commanded vehicle depth: 872.48489 # Seafloor depth: -923.791042 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.22; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.255524 meters # Minimum depth: 913.851236 meters looking forward 100.000000 meters along route # Maximum depth: 924.096094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 863.851236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.829466; longitude = -117.553437; captureRadius = 10; duration = 214; initialDepth = 858.540535; finalDepth = 863.851236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.312397 # Actual altitude: 59.312397 # Commanded vehicle depth: 863.851236 # Seafloor depth: -923.163633 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 237.25; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.72; MB_Bottom_Detect_Filter_Max_Range = 237.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.255092 meters # Minimum depth: 908.540535 meters looking forward 100.000000 meters along route # Maximum depth: 913.611494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 858.540535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830000; longitude = -117.554393; captureRadius = 10; duration = 214; initialDepth = 855.205070; finalDepth = 858.540535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.312397 # Actual altitude: 59.312397 # Commanded vehicle depth: 858.540535 # Seafloor depth: -913.611494 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 237.25; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.72; MB_Bottom_Detect_Filter_Max_Range = 237.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 111.498199 meters # Minimum depth: 905.205070 meters looking forward 100.000000 meters along route # Maximum depth: 909.527864 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.205070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830534; longitude = -117.555348; captureRadius = 10; duration = 222; initialDepth = 852.252613; finalDepth = 855.205070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.070959 # Actual altitude: 55.070959 # Commanded vehicle depth: 855.20507 # Seafloor depth: -909.527864 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.28; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.03; MB_Bottom_Detect_Filter_Max_Range = 220.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 103.010693 meters # Minimum depth: 902.252613 meters looking forward 100.000000 meters along route # Maximum depth: 904.934770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 852.252613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831089; longitude = -117.556342; captureRadius = 10; duration = 206; initialDepth = 849.025742; finalDepth = 852.252613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.322794 # Actual altitude: 54.322794 # Commanded vehicle depth: 852.252613 # Seafloor depth: -904.934770 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 217.29; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.73; MB_Bottom_Detect_Filter_Max_Range = 217.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.253799 meters # Minimum depth: 899.025742 meters looking forward 100.000000 meters along route # Maximum depth: 902.793259 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 849.025742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831601; longitude = -117.557260; captureRadius = 10; duration = 214; initialDepth = 847.622408; finalDepth = 849.025742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.468211 # Actual altitude: 53.468211 # Commanded vehicle depth: 849.025742 # Seafloor depth: -902.493953 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.87; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.39; MB_Bottom_Detect_Filter_Max_Range = 213.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.253368 meters # Minimum depth: 897.622408 meters looking forward 100.000000 meters along route # Maximum depth: 898.983191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 847.622408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832135; longitude = -117.558216; captureRadius = 10; duration = 214; initialDepth = 846.710704; finalDepth = 847.622408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.468211 # Actual altitude: 53.468211 # Commanded vehicle depth: 847.622408 # Seafloor depth: -898.983191 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.87; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.39; MB_Bottom_Detect_Filter_Max_Range = 213.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.252936 meters # Minimum depth: 896.710704 meters looking forward 100.000000 meters along route # Maximum depth: 900.596093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 846.710704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832669; longitude = -117.559171; captureRadius = 10; duration = 214; initialDepth = 841.248820; finalDepth = 846.710704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3607830000001 # Actual altitude: 51.3607830000001 # Commanded vehicle depth: 846.710704 # Seafloor depth: -897.107777 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.44; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 114.369083 meters # Minimum depth: 891.248820 meters looking forward 100.000000 meters along route # Maximum depth: 900.572464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 841.248820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.833203; longitude = -117.560127; captureRadius = 10; duration = 228; initialDepth = 842.579501; finalDepth = 841.248820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.3236439999999 # Actual altitude: 59.3236439999999 # Commanded vehicle depth: 841.24882 # Seafloor depth: -900.572464 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 237.29; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.73; MB_Bottom_Detect_Filter_Max_Range = 237.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.135496 meters # Minimum depth: 892.579501 meters looking forward 100.000000 meters along route # Maximum depth: 898.504757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 842.579501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.833772; longitude = -117.561146; captureRadius = 10; duration = 200; initialDepth = 849.209215; finalDepth = 842.579501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.3236439999999 # Actual altitude: 59.3236439999999 # Commanded vehicle depth: 842.579501 # Seafloor depth: -892.579501 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 237.29; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.73; MB_Bottom_Detect_Filter_Max_Range = 237.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 109.527069 meters # Minimum depth: 899.209215 meters looking forward 100.000000 meters along route # Maximum depth: 920.938676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 849.209215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.834270; longitude = -117.562038; captureRadius = 10; duration = 219; initialDepth = 871.532806; finalDepth = 849.209215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 849.209215 # Seafloor depth: -899.209215 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.975786 meters # Minimum depth: 921.532806 meters looking forward 100.000000 meters along route # Maximum depth: 951.653724 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.532806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.834815; longitude = -117.563014; captureRadius = 10; duration = 209; initialDepth = 902.473305; finalDepth = 871.532806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 871.532806 # Seafloor depth: -921.532806 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.250780 meters # Minimum depth: 952.473305 meters looking forward 100.000000 meters along route # Maximum depth: 962.175394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 902.473305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.835338; longitude = -117.563950; captureRadius = 10; duration = 214; initialDepth = 912.711211; finalDepth = 902.473305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.806317 # Actual altitude: 52.806317 # Commanded vehicle depth: 902.473305 # Seafloor depth: -955.279622 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.23; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.250350 meters # Minimum depth: 962.711211 meters looking forward 100.000000 meters along route # Maximum depth: 974.101027 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 912.711211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.835872; longitude = -117.564906; captureRadius = 10; duration = 214; initialDepth = 912.999745; finalDepth = 912.711211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.806317 # Actual altitude: 52.806317 # Commanded vehicle depth: 912.711211 # Seafloor depth: -962.711211 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.23; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.249918 meters # Minimum depth: 962.999745 meters looking forward 100.000000 meters along route # Maximum depth: 969.191494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 912.999745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.836405; longitude = -117.565861; captureRadius = 10; duration = 214; initialDepth = 900.565183; finalDepth = 912.999745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1917490000001 # Actual altitude: 56.1917490000001 # Commanded vehicle depth: 912.999745 # Seafloor depth: -969.191494 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 224.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.48; MB_Bottom_Detect_Filter_Max_Range = 224.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 112.397912 meters # Minimum depth: 950.565183 meters looking forward 100.000000 meters along route # Maximum depth: 962.444456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 900.565183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.836939; longitude = -117.566817; captureRadius = 10; duration = 224; initialDepth = 892.302018; finalDepth = 900.565183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.8792729999999 # Actual altitude: 61.8792729999999 # Commanded vehicle depth: 900.565183 # Seafloor depth: -962.444456 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 247.52; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.75; MB_Bottom_Detect_Filter_Max_Range = 247.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 102.100632 meters # Minimum depth: 942.302018 meters looking forward 100.000000 meters along route # Maximum depth: 949.962289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 892.302018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.837499; longitude = -117.567819; captureRadius = 10; duration = 204; initialDepth = 891.331411; finalDepth = 892.302018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.8792729999999 # Actual altitude: 61.8792729999999 # Commanded vehicle depth: 892.302018 # Seafloor depth: -949.962289 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 247.52; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.75; MB_Bottom_Detect_Filter_Max_Range = 247.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.556050 meters # Minimum depth: 941.331411 meters looking forward 100.000000 meters along route # Maximum depth: 942.287376 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 891.331411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.838007; longitude = -117.568728; captureRadius = 10; duration = 215; initialDepth = 892.024437; finalDepth = 891.331411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.6602710000001 # Actual altitude: 57.6602710000001 # Commanded vehicle depth: 891.331411 # Seafloor depth: -942.243997 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 230.64; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.06; MB_Bottom_Detect_Filter_Max_Range = 230.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.940769 meters # Minimum depth: 942.024437 meters looking forward 100.000000 meters along route # Maximum depth: 943.190010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 892.024437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.838542; longitude = -117.569687; captureRadius = 10; duration = 213; initialDepth = 878.889616; finalDepth = 892.024437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.912586 # Actual altitude: 50.912586 # Commanded vehicle depth: 892.024437 # Seafloor depth: -942.024437 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.65; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.247763 meters # Minimum depth: 928.889616 meters looking forward 100.000000 meters along route # Maximum depth: 940.709979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 878.889616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.839074; longitude = -117.570640; captureRadius = 10; duration = 214; initialDepth = 871.852034; finalDepth = 878.889616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.8203629999999 # Actual altitude: 61.8203629999999 # Commanded vehicle depth: 878.889616 # Seafloor depth: -940.709979 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 247.28; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.73; MB_Bottom_Detect_Filter_Max_Range = 247.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.247332 meters # Minimum depth: 921.852034 meters looking forward 100.000000 meters along route # Maximum depth: 928.182097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.852034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.839608; longitude = -117.571596; captureRadius = 10; duration = 214; initialDepth = 878.318349; finalDepth = 871.852034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.8203629999999 # Actual altitude: 61.8203629999999 # Commanded vehicle depth: 871.852034 # Seafloor depth: -928.182097 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 247.28; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.73; MB_Bottom_Detect_Filter_Max_Range = 247.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.246900 meters # Minimum depth: 928.318349 meters looking forward 100.000000 meters along route # Maximum depth: 936.617312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 878.318349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.840142; longitude = -117.572551; captureRadius = 10; duration = 214; initialDepth = 875.106366; finalDepth = 878.318349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.330063 # Actual altitude: 56.330063 # Commanded vehicle depth: 878.318349 # Seafloor depth: -928.913648 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 225.32; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.53; MB_Bottom_Detect_Filter_Max_Range = 225.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 110.426853 meters # Minimum depth: 925.106366 meters looking forward 100.000000 meters along route # Maximum depth: 927.617224 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 875.106366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.840676; longitude = -117.573507; captureRadius = 10; duration = 220; initialDepth = 876.449234; finalDepth = 875.106366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.510858 # Actual altitude: 52.510858 # Commanded vehicle depth: 875.106366 # Seafloor depth: -927.617224 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.04; MB_Rate = 2; MB_Gain = 80; 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 = 210.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.065656 meters # Minimum depth: 926.449234 meters looking forward 100.000000 meters along route # Maximum depth: 931.227460 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 876.449234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.841225; longitude = -117.574491; captureRadius = 10; duration = 208; initialDepth = 866.739428; finalDepth = 876.449234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.510858 # Actual altitude: 52.510858 # Commanded vehicle depth: 876.449234 # Seafloor depth: -926.449234 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.04; MB_Rate = 2; MB_Gain = 80; 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 = 210.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.245608 meters # Minimum depth: 916.739428 meters looking forward 100.000000 meters along route # Maximum depth: 931.409319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.739428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.841743; longitude = -117.575418; captureRadius = 10; duration = 214; initialDepth = 853.790231; finalDepth = 866.739428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.669891 # Actual altitude: 64.669891 # Commanded vehicle depth: 866.739428 # Seafloor depth: -931.409319 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 258.68; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.87; MB_Bottom_Detect_Filter_Max_Range = 258.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 258.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 118.139253 meters # Minimum depth: 903.790231 meters looking forward 100.000000 meters along route # Maximum depth: 916.661341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 853.790231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.842277; longitude = -117.576374; captureRadius = 10; duration = 236; initialDepth = 851.687506; finalDepth = 853.790231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.669891 # Actual altitude: 64.669891 # Commanded vehicle depth: 853.790231 # Seafloor depth: -916.661341 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 258.68; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.87; MB_Bottom_Detect_Filter_Max_Range = 258.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 258.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 119.799179 meters # Minimum depth: 901.687506 meters looking forward 100.000000 meters along route # Maximum depth: 904.360711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 851.687506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.842865; longitude = -117.577427; captureRadius = 10; duration = 239; initialDepth = 856.125969; finalDepth = 851.687506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.87111 # Actual altitude: 62.87111 # Commanded vehicle depth: 851.687506 # Seafloor depth: -904.068492 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 251.48; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.15; MB_Bottom_Detect_Filter_Max_Range = 251.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 117.433518 meters # Minimum depth: 906.125969 meters looking forward 100.000000 meters along route # Maximum depth: 908.447906 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 856.125969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.843461; longitude = -117.578494; captureRadius = 10; duration = 234; initialDepth = 856.839390; finalDepth = 856.125969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.380986 # Actual altitude: 52.380986 # Commanded vehicle depth: 856.125969 # Seafloor depth: -906.125969 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 209.52; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.95; MB_Bottom_Detect_Filter_Max_Range = 209.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 150.031352 meters # Minimum depth: 906.839390 meters looking forward 100.000000 meters along route # Maximum depth: 912.872971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 856.839390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.844046; longitude = -117.579541; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 855.545312; finalDepth = 856.839390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 56.033581 # Actual altitude: 56.033581 # Commanded vehicle depth: 856.83939 # Seafloor depth: -912.872971 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 224.13; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.41; MB_Bottom_Detect_Filter_Max_Range = 224.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 153.211822 meters # Minimum depth: 905.545312 meters looking forward 100.000000 meters along route # Maximum depth: 908.098373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.545312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.845175; longitude = -117.578657; captureRadius = 10; duration = 306; # abortOnTimeout = True; initialDepth = 853.241324; finalDepth = 855.545312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.033581 # Actual altitude: 56.033581 # Commanded vehicle depth: 855.545312 # Seafloor depth: -908.098373 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 224.13; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.41; MB_Bottom_Detect_Filter_Max_Range = 224.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 107.239710 meters # Minimum depth: 903.241324 meters looking forward 100.000000 meters along route # Maximum depth: 906.315699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 853.241324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.844412; longitude = -117.577292; captureRadius = 10; duration = 214; initialDepth = 852.545216; finalDepth = 853.241324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.584469 # Actual altitude: 52.584469 # Commanded vehicle depth: 853.241324 # Seafloor depth: -905.825793 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.34; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.03; MB_Bottom_Detect_Filter_Max_Range = 210.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.240141 meters # Minimum depth: 902.545216 meters looking forward 100.000000 meters along route # Maximum depth: 905.722755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 852.545216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.843879; longitude = -117.576336; captureRadius = 10; duration = 214; initialDepth = 858.679019; finalDepth = 852.545216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.584469 # Actual altitude: 52.584469 # Commanded vehicle depth: 852.545216 # Seafloor depth: -903.279925 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.34; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.03; MB_Bottom_Detect_Filter_Max_Range = 210.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.240572 meters # Minimum depth: 908.679019 meters looking forward 100.000000 meters along route # Maximum depth: 920.438513 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 858.679019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.843345; longitude = -117.575380; captureRadius = 10; duration = 214; initialDepth = 871.530619; finalDepth = 858.679019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7347090000001 # Actual altitude: 50.7347090000001 # Commanded vehicle depth: 858.679019 # Seafloor depth: -908.679019 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.94; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 112.357816 meters # Minimum depth: 921.530619 meters looking forward 100.000000 meters along route # Maximum depth: 928.174488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.530619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.842811; longitude = -117.574425; captureRadius = 10; duration = 224; initialDepth = 874.910260; finalDepth = 871.530619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 871.530619 # Seafloor depth: -921.530619 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 102.124620 meters # Minimum depth: 924.910260 meters looking forward 100.000000 meters along route # Maximum depth: 928.777917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 874.910260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.842252; longitude = -117.573423; captureRadius = 10; duration = 204; initialDepth = 873.053841; finalDepth = 874.910260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.395624 # Actual altitude: 51.395624 # Commanded vehicle depth: 874.91026 # Seafloor depth: -926.305884 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.58; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 205.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.529670 meters # Minimum depth: 923.053841 meters looking forward 100.000000 meters along route # Maximum depth: 924.723690 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.053841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.841743; longitude = -117.572513; captureRadius = 10; duration = 215; initialDepth = 873.815611; finalDepth = 873.053841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.395624 # Actual altitude: 51.395624 # Commanded vehicle depth: 873.053841 # Seafloor depth: -923.923266 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.58; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 205.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 106.954490 meters # Minimum depth: 923.815611 meters looking forward 100.000000 meters along route # Maximum depth: 926.703426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.815611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.841208; longitude = -117.571555; captureRadius = 10; duration = 213; initialDepth = 877.342457; finalDepth = 873.815611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.893336 # Actual altitude: 50.893336 # Commanded vehicle depth: 873.815611 # Seafloor depth: -924.708947 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.57; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.242727 meters # Minimum depth: 927.342457 meters looking forward 100.000000 meters along route # Maximum depth: 935.537103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 877.342457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.840676; longitude = -117.570602; captureRadius = 10; duration = 214; initialDepth = 886.178662; finalDepth = 877.342457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.893336 # Actual altitude: 50.893336 # Commanded vehicle depth: 877.342457 # Seafloor depth: -927.342457 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.57; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.243157 meters # Minimum depth: 936.178662 meters looking forward 100.000000 meters along route # Maximum depth: 940.849956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 886.178662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.840142; longitude = -117.569646; captureRadius = 10; duration = 214; initialDepth = 889.445489; finalDepth = 886.178662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 886.178662 # Seafloor depth: -936.178662 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.243589 meters # Minimum depth: 939.445489 meters looking forward 100.000000 meters along route # Maximum depth: 941.557264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 889.445489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.839608; longitude = -117.568691; captureRadius = 10; duration = 214; initialDepth = 891.554735; finalDepth = 889.445489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 889.445489 # Seafloor depth: -939.445489 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 110.434634 meters # Minimum depth: 941.554735 meters looking forward 100.000000 meters along route # Maximum depth: 945.176619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 891.554735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.839074; longitude = -117.567735; captureRadius = 10; duration = 220; initialDepth = 894.738913; finalDepth = 891.554735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0387929999999 # Actual altitude: 50.0387929999999 # Commanded vehicle depth: 891.554735 # Seafloor depth: -941.593528 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.16; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.053837 meters # Minimum depth: 944.738913 meters looking forward 100.000000 meters along route # Maximum depth: 948.851162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 894.738913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.838525; longitude = -117.566751; captureRadius = 10; duration = 208; initialDepth = 900.273014; finalDepth = 894.738913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6885219999999 # Actual altitude: 50.6885219999999 # Commanded vehicle depth: 894.738913 # Seafloor depth: -945.427435 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.75; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.244882 meters # Minimum depth: 950.273014 meters looking forward 100.000000 meters along route # Maximum depth: 958.250578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 900.273014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.838007; longitude = -117.565824; captureRadius = 10; duration = 214; initialDepth = 907.900255; finalDepth = 900.273014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6885219999999 # Actual altitude: 50.6885219999999 # Commanded vehicle depth: 900.273014 # Seafloor depth: -950.273014 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.75; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.245313 meters # Minimum depth: 957.900255 meters looking forward 100.000000 meters along route # Maximum depth: 964.187734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.900255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.837473; longitude = -117.564868; captureRadius = 10; duration = 214; initialDepth = 907.904563; finalDepth = 907.900255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 907.900255 # Seafloor depth: -957.900255 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.245745 meters # Minimum depth: 957.904563 meters looking forward 100.000000 meters along route # Maximum depth: 968.126466 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.904563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.836939; longitude = -117.563912; captureRadius = 10; duration = 214; initialDepth = 880.953179; finalDepth = 907.904563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.3685009999999 # Actual altitude: 59.3685009999999 # Commanded vehicle depth: 907.904563 # Seafloor depth: -967.273064 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 237.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.75; MB_Bottom_Detect_Filter_Max_Range = 237.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 113.339713 meters # Minimum depth: 930.953179 meters looking forward 100.000000 meters along route # Maximum depth: 956.811764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 880.953179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.836405; longitude = -117.562957; captureRadius = 10; duration = 226; initialDepth = 846.241391; finalDepth = 880.953179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.8585850000001 # Actual altitude: 75.8585850000001 # Commanded vehicle depth: 880.953179 # Seafloor depth: -956.811764 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 303.43; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.34; MB_Bottom_Detect_Filter_Max_Range = 303.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 101.153069 meters # Minimum depth: 896.241391 meters looking forward 100.000000 meters along route # Maximum depth: 928.994696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 846.241391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.835841; longitude = -117.561947; captureRadius = 10; duration = 202; initialDepth = 843.766849; finalDepth = 846.241391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.753305 # Actual altitude: 82.753305 # Commanded vehicle depth: 846.241391 # Seafloor depth: -928.994696 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 331.01; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.10; MB_Bottom_Detect_Filter_Max_Range = 331.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 108.511342 meters # Minimum depth: 893.766849 meters looking forward 100.000000 meters along route # Maximum depth: 894.792390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 843.766849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.835338; longitude = -117.561045; captureRadius = 10; duration = 217; initialDepth = 844.783063; finalDepth = 843.766849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.753305 # Actual altitude: 82.753305 # Commanded vehicle depth: 843.766849 # Seafloor depth: -894.719778 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 331.01; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.10; MB_Bottom_Detect_Filter_Max_Range = 331.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 105.983164 meters # Minimum depth: 894.783063 meters looking forward 100.000000 meters along route # Maximum depth: 896.142155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 844.783063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.834798; longitude = -117.560078; captureRadius = 10; duration = 211; initialDepth = 846.425076; finalDepth = 844.783063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.952929 # Actual altitude: 50.952929 # Commanded vehicle depth: 844.783063 # Seafloor depth: -894.783063 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.81; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.247901 meters # Minimum depth: 896.425076 meters looking forward 100.000000 meters along route # Maximum depth: 901.358336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 846.425076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.834270; longitude = -117.559134; captureRadius = 10; duration = 214; initialDepth = 848.212390; finalDepth = 846.425076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 846.425076 # Seafloor depth: -896.425076 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.248331 meters # Minimum depth: 898.212390 meters looking forward 100.000000 meters along route # Maximum depth: 901.274189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 848.212390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.833736; longitude = -117.558178; captureRadius = 10; duration = 214; initialDepth = 849.174935; finalDepth = 848.212390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.061799 # Actual altitude: 53.061799 # Commanded vehicle depth: 848.21239 # Seafloor depth: -901.274189 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.25; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.248763 meters # Minimum depth: 899.174935 meters looking forward 100.000000 meters along route # Maximum depth: 902.340561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 849.174935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.833203; longitude = -117.557223; captureRadius = 10; duration = 214; initialDepth = 849.901698; finalDepth = 849.174935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.061799 # Actual altitude: 53.061799 # Commanded vehicle depth: 849.174935 # Seafloor depth: -899.174935 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.25; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 111.416465 meters # Minimum depth: 899.901698 meters looking forward 100.000000 meters along route # Maximum depth: 902.091309 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 849.901698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832669; longitude = -117.556267; captureRadius = 10; duration = 222; initialDepth = 852.230765; finalDepth = 849.901698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.443903 # Actual altitude: 50.443903 # Commanded vehicle depth: 849.901698 # Seafloor depth: -900.345601 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.78; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 103.082354 meters # Minimum depth: 902.230765 meters looking forward 100.000000 meters along route # Maximum depth: 905.296431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 852.230765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832114; longitude = -117.555274; captureRadius = 10; duration = 206; initialDepth = 855.683901; finalDepth = 852.230765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.443903 # Actual altitude: 50.443903 # Commanded vehicle depth: 852.230765 # Seafloor depth: -902.230765 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.78; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.250056 meters # Minimum depth: 905.683901 meters looking forward 100.000000 meters along route # Maximum depth: 912.951700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.683901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831601; longitude = -117.554356; captureRadius = 10; duration = 214; initialDepth = 863.022301; finalDepth = 855.683901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 855.683901 # Seafloor depth: -905.683901 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.250488 meters # Minimum depth: 913.022301 meters looking forward 100.000000 meters along route # Maximum depth: 919.062309 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 863.022301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831067; longitude = -117.553400; captureRadius = 10; duration = 214; initialDepth = 867.031130; finalDepth = 863.022301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 863.022301 # Seafloor depth: -913.022301 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.250919 meters # Minimum depth: 917.031130 meters looking forward 100.000000 meters along route # Maximum depth: 924.347153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.031130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830534; longitude = -117.552444; captureRadius = 10; duration = 214; initialDepth = 862.695314; finalDepth = 867.031130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1704130000001 # Actual altitude: 50.1704130000001 # Commanded vehicle depth: 867.03113 # Seafloor depth: -917.201543 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.68; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 114.321707 meters # Minimum depth: 912.695314 meters looking forward 100.000000 meters along route # Maximum depth: 923.539154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 862.695314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830000; longitude = -117.551489; captureRadius = 10; duration = 228; initialDepth = 858.623941; finalDepth = 862.695314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.84384 # Actual altitude: 60.84384 # Commanded vehicle depth: 862.695314 # Seafloor depth: -923.539154 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 243.38; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.34; MB_Bottom_Detect_Filter_Max_Range = 243.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 119.813818 meters # Minimum depth: 908.623941 meters looking forward 100.000000 meters along route # Maximum depth: 913.965239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 858.623941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.829431; longitude = -117.550470; captureRadius = 10; duration = 239; initialDepth = 859.680083; finalDepth = 858.623941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.84384 # Actual altitude: 60.84384 # Commanded vehicle depth: 858.623941 # Seafloor depth: -911.486721 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 243.38; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.34; MB_Bottom_Detect_Filter_Max_Range = 243.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 119.814358 meters # Minimum depth: 909.680083 meters looking forward 100.000000 meters along route # Maximum depth: 924.238090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.680083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828835; longitude = -117.549403; captureRadius = 10; duration = 239; initialDepth = 861.585425; finalDepth = 859.680083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.86278 # Actual altitude: 52.86278 # Commanded vehicle depth: 859.680083 # Seafloor depth: -909.680083 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.45; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.15; MB_Bottom_Detect_Filter_Max_Range = 211.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 119.814895 meters # Minimum depth: 911.585425 meters looking forward 100.000000 meters along route # Maximum depth: 915.672882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 861.585425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828238; longitude = -117.548335; captureRadius = 10; duration = 239; initialDepth = 868.972514; finalDepth = 861.585425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.608073 # Actual altitude: 51.608073 # Commanded vehicle depth: 861.585425 # Seafloor depth: -913.193498 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.43; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 101.047495 meters # Minimum depth: 918.972514 meters looking forward 100.000000 meters along route # Maximum depth: 927.008739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.972514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.827642; longitude = -117.547267; captureRadius = 10; duration = 202; initialDepth = 865.119198; finalDepth = 868.972514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.983426 # Actual altitude: 51.983426 # Commanded vehicle depth: 868.972514 # Seafloor depth: -920.955940 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 207.93; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 150.039114 meters # Minimum depth: 915.119198 meters looking forward 100.000000 meters along route # Maximum depth: 920.541580 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.119198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.827139; longitude = -117.546367; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 863.938075; finalDepth = 865.119198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 55.422382 # Actual altitude: 55.422382 # Commanded vehicle depth: 865.119198 # Seafloor depth: -920.541580 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 221.69; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.17; MB_Bottom_Detect_Filter_Max_Range = 221.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 80.440842 meters # Minimum depth: 913.938075 meters looking forward 100.000000 meters along route # Maximum depth: 920.410065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 863.938075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828268; longitude = -117.545483; captureRadius = 10; duration = 160; # abortOnTimeout = True; initialDepth = 861.189754; finalDepth = 863.938075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.47199 # Actual altitude: 56.47199 # Commanded vehicle depth: 863.938075 # Seafloor depth: -920.410065 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 225.89; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.59; MB_Bottom_Detect_Filter_Max_Range = 225.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 106.657383 meters # Minimum depth: 911.189754 meters looking forward 100.000000 meters along route # Maximum depth: 915.091859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 861.189754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828668; longitude = -117.546200; captureRadius = 10; duration = 213; initialDepth = 859.136660; finalDepth = 861.189754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.47199 # Actual altitude: 56.47199 # Commanded vehicle depth: 861.189754 # Seafloor depth: -915.091859 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 225.89; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.59; MB_Bottom_Detect_Filter_Max_Range = 225.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.255665 meters # Minimum depth: 909.136660 meters looking forward 100.000000 meters along route # Maximum depth: 918.522801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.136660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.829199; longitude = -117.547150; captureRadius = 10; duration = 214; initialDepth = 859.350787; finalDepth = 859.136660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.902105 # Actual altitude: 53.902105 # Commanded vehicle depth: 859.13666 # Seafloor depth: -910.312358 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 215.61; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.56; MB_Bottom_Detect_Filter_Max_Range = 215.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.255234 meters # Minimum depth: 909.350787 meters looking forward 100.000000 meters along route # Maximum depth: 917.647031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.350787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.829733; longitude = -117.548106; captureRadius = 10; duration = 214; initialDepth = 860.528726; finalDepth = 859.350787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.296244 # Actual altitude: 58.296244 # Commanded vehicle depth: 859.350787 # Seafloor depth: -917.647031 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 233.18; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.32; MB_Bottom_Detect_Filter_Max_Range = 233.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.254803 meters # Minimum depth: 910.528726 meters looking forward 100.000000 meters along route # Maximum depth: 919.469902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.528726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830267; longitude = -117.549062; captureRadius = 10; duration = 214; initialDepth = 864.840891; finalDepth = 860.528726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.296244 # Actual altitude: 58.296244 # Commanded vehicle depth: 860.528726 # Seafloor depth: -912.748987 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 233.18; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.32; MB_Bottom_Detect_Filter_Max_Range = 233.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 110.726249 meters # Minimum depth: 914.840891 meters looking forward 100.000000 meters along route # Maximum depth: 921.444467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 864.840891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830801; longitude = -117.550017; captureRadius = 10; duration = 221; initialDepth = 862.512259; finalDepth = 864.840891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.97808 # Actual altitude: 54.97808 # Commanded vehicle depth: 864.840891 # Seafloor depth: -919.818971 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 219.91; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.99; MB_Bottom_Detect_Filter_Max_Range = 219.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 103.782062 meters # Minimum depth: 912.512259 meters looking forward 100.000000 meters along route # Maximum depth: 915.737584 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 862.512259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831352; longitude = -117.551004; captureRadius = 10; duration = 207; initialDepth = 861.309926; finalDepth = 862.512259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.97808 # Actual altitude: 54.97808 # Commanded vehicle depth: 862.512259 # Seafloor depth: -915.737584 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 219.91; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.99; MB_Bottom_Detect_Filter_Max_Range = 219.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.253509 meters # Minimum depth: 911.309926 meters looking forward 100.000000 meters along route # Maximum depth: 916.191440 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 861.309926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831868; longitude = -117.551929; captureRadius = 10; duration = 214; initialDepth = 858.763642; finalDepth = 861.309926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.510436 # Actual altitude: 53.510436 # Commanded vehicle depth: 861.309926 # Seafloor depth: -914.820362 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.04; MB_Rate = 2; MB_Gain = 80; 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 = 214.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.253077 meters # Minimum depth: 908.763642 meters looking forward 100.000000 meters along route # Maximum depth: 911.512708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 858.763642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832402; longitude = -117.552884; captureRadius = 10; duration = 214; initialDepth = 856.228462; finalDepth = 858.763642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.510436 # Actual altitude: 53.510436 # Commanded vehicle depth: 858.763642 # Seafloor depth: -911.360120 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.04; MB_Rate = 2; MB_Gain = 80; 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 = 214.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.252646 meters # Minimum depth: 906.228462 meters looking forward 100.000000 meters along route # Maximum depth: 913.969693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 856.228462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832936; longitude = -117.553840; captureRadius = 10; duration = 214; initialDepth = 860.708251; finalDepth = 856.228462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.596478 # Actual altitude: 52.596478 # Commanded vehicle depth: 856.228462 # Seafloor depth: -906.228536 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.39; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.04; MB_Bottom_Detect_Filter_Max_Range = 210.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 113.597140 meters # Minimum depth: 910.708251 meters looking forward 100.000000 meters along route # Maximum depth: 915.115015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.708251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.833470; longitude = -117.554796; captureRadius = 10; duration = 227; initialDepth = 857.740109; finalDepth = 860.708251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1296179999999 # Actual altitude: 54.1296179999999 # Commanded vehicle depth: 860.708251 # Seafloor depth: -914.837869 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.52; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.65; MB_Bottom_Detect_Filter_Max_Range = 216.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.906858 meters # Minimum depth: 907.740109 meters looking forward 100.000000 meters along route # Maximum depth: 913.754951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 857.740109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.834035; longitude = -117.555808; captureRadius = 10; duration = 201; initialDepth = 850.527026; finalDepth = 857.740109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1296179999999 # Actual altitude: 54.1296179999999 # Commanded vehicle depth: 857.740109 # Seafloor depth: -910.756450 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.52; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.65; MB_Bottom_Detect_Filter_Max_Range = 216.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 108.755145 meters # Minimum depth: 900.527026 meters looking forward 100.000000 meters along route # Maximum depth: 908.770657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 850.527026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.834537; longitude = -117.556707; captureRadius = 10; duration = 217; initialDepth = 850.606644; finalDepth = 850.527026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.2436310000001 # Actual altitude: 58.2436310000001 # Commanded vehicle depth: 850.527026 # Seafloor depth: -908.770657 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 232.97; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.30; MB_Bottom_Detect_Filter_Max_Range = 232.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.747127 meters # Minimum depth: 900.606644 meters looking forward 100.000000 meters along route # Maximum depth: 904.379371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 850.606644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.835078; longitude = -117.557676; captureRadius = 10; duration = 211; initialDepth = 852.121290; finalDepth = 850.606644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.2436310000001 # Actual altitude: 58.2436310000001 # Commanded vehicle depth: 850.606644 # Seafloor depth: -900.606644 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 232.97; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.30; MB_Bottom_Detect_Filter_Max_Range = 232.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.250489 meters # Minimum depth: 902.121290 meters looking forward 100.000000 meters along route # Maximum depth: 910.053651 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 852.121290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.835605; longitude = -117.558619; captureRadius = 10; duration = 214; initialDepth = 849.785024; finalDepth = 852.121290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8387889999999 # Actual altitude: 55.8387889999999 # Commanded vehicle depth: 852.12129 # Seafloor depth: -907.960079 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 223.36; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.34; MB_Bottom_Detect_Filter_Max_Range = 223.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.250059 meters # Minimum depth: 899.785024 meters looking forward 100.000000 meters along route # Maximum depth: 905.168556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 849.785024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.836139; longitude = -117.559574; captureRadius = 10; duration = 214; initialDepth = 859.561211; finalDepth = 849.785024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8387889999999 # Actual altitude: 55.8387889999999 # Commanded vehicle depth: 849.785024 # Seafloor depth: -902.315082 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 223.36; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.34; MB_Bottom_Detect_Filter_Max_Range = 223.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.249626 meters # Minimum depth: 909.561211 meters looking forward 100.000000 meters along route # Maximum depth: 948.924042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.561211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.836672; longitude = -117.560530; captureRadius = 10; duration = 214; initialDepth = 902.124941; finalDepth = 859.561211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5300579999999 # Actual altitude: 52.5300579999999 # Commanded vehicle depth: 859.561211 # Seafloor depth: -909.561211 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.12; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.01; MB_Bottom_Detect_Filter_Max_Range = 210.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 111.625996 meters # Minimum depth: 952.124941 meters looking forward 100.000000 meters along route # Maximum depth: 965.523536 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 902.124941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.837206; longitude = -117.561486; captureRadius = 10; duration = 223; initialDepth = 915.615187; finalDepth = 902.124941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 902.124941 # Seafloor depth: -952.124941 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 102.871964 meters # Minimum depth: 965.615187 meters looking forward 100.000000 meters along route # Maximum depth: 981.628424 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.615187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.837762; longitude = -117.562481; captureRadius = 10; duration = 205; initialDepth = 909.800680; finalDepth = 915.615187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 915.615187 # Seafloor depth: -965.615187 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.248334 meters # Minimum depth: 959.800680 meters looking forward 100.000000 meters along route # Maximum depth: 981.790007 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 909.800680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.838274; longitude = -117.563397; captureRadius = 10; duration = 214; initialDepth = 904.641618; finalDepth = 909.800680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.9893269999999 # Actual altitude: 71.9893269999999 # Commanded vehicle depth: 909.80068 # Seafloor depth: -981.790007 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 287.96; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.80; MB_Bottom_Detect_Filter_Max_Range = 287.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.247902 meters # Minimum depth: 954.641618 meters looking forward 100.000000 meters along route # Maximum depth: 959.759654 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 904.641618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.838808; longitude = -117.564353; captureRadius = 10; duration = 214; initialDepth = 898.844339; finalDepth = 904.641618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.9893269999999 # Actual altitude: 71.9893269999999 # Commanded vehicle depth: 904.641618 # Seafloor depth: -959.759654 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 287.96; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.80; MB_Bottom_Detect_Filter_Max_Range = 287.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.247471 meters # Minimum depth: 948.844339 meters looking forward 100.000000 meters along route # Maximum depth: 956.803217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 898.844339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.839341; longitude = -117.565309; captureRadius = 10; duration = 214; initialDepth = 890.546074; finalDepth = 898.844339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.118036 # Actual altitude: 55.118036 # Commanded vehicle depth: 898.844339 # Seafloor depth: -953.757212 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.05; MB_Bottom_Detect_Filter_Max_Range = 220.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.247039 meters # Minimum depth: 940.546074 meters looking forward 100.000000 meters along route # Maximum depth: 956.569757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 890.546074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.839875; longitude = -117.566264; captureRadius = 10; duration = 214; initialDepth = 886.237446; finalDepth = 890.546074; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.023683 # Actual altitude: 66.023683 # Commanded vehicle depth: 890.546074 # Seafloor depth: -956.569757 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 264.09; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.41; MB_Bottom_Detect_Filter_Max_Range = 264.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.246609 meters # Minimum depth: 936.237446 meters looking forward 100.000000 meters along route # Maximum depth: 940.875670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 886.237446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.840409; longitude = -117.567220; captureRadius = 10; duration = 214; initialDepth = 876.151630; finalDepth = 886.237446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.023683 # Actual altitude: 66.023683 # Commanded vehicle depth: 886.237446 # Seafloor depth: -940.278500 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 264.09; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.41; MB_Bottom_Detect_Filter_Max_Range = 264.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 109.654962 meters # Minimum depth: 926.151630 meters looking forward 100.000000 meters along route # Maximum depth: 935.846518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 876.151630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.840943; longitude = -117.568176; captureRadius = 10; duration = 219; initialDepth = 873.331020; finalDepth = 876.151630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.1878240000001 # Actual altitude: 59.1878240000001 # Commanded vehicle depth: 876.15163 # Seafloor depth: -935.339454 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 236.75; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.68; MB_Bottom_Detect_Filter_Max_Range = 236.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 104.836962 meters # Minimum depth: 923.331020 meters looking forward 100.000000 meters along route # Maximum depth: 926.134546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.331020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.841488; longitude = -117.569153; captureRadius = 10; duration = 209; initialDepth = 872.982616; finalDepth = 873.331020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.1878240000001 # Actual altitude: 59.1878240000001 # Commanded vehicle depth: 873.33102 # Seafloor depth: -925.776770 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 236.75; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.68; MB_Bottom_Detect_Filter_Max_Range = 236.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.245315 meters # Minimum depth: 922.982616 meters looking forward 100.000000 meters along route # Maximum depth: 923.546700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.982616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.842010; longitude = -117.570087; captureRadius = 10; duration = 214; initialDepth = 869.346271; finalDepth = 872.982616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4457500000001 # Actual altitude: 52.4457500000001 # Commanded vehicle depth: 872.982616 # Seafloor depth: -922.982616 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.78; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.98; MB_Bottom_Detect_Filter_Max_Range = 209.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.244885 meters # Minimum depth: 919.346271 meters looking forward 100.000000 meters along route # Maximum depth: 923.075705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.346271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.842544; longitude = -117.571043; captureRadius = 10; duration = 214; initialDepth = 867.631495; finalDepth = 869.346271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.729434 # Actual altitude: 53.729434 # Commanded vehicle depth: 869.346271 # Seafloor depth: -923.075705 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.92; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.49; MB_Bottom_Detect_Filter_Max_Range = 214.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.244453 meters # Minimum depth: 917.631495 meters looking forward 100.000000 meters along route # Maximum depth: 919.897464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.631495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.843078; longitude = -117.571999; captureRadius = 10; duration = 214; initialDepth = 846.571323; finalDepth = 867.631495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.729434 # Actual altitude: 53.729434 # Commanded vehicle depth: 867.631495 # Seafloor depth: -918.962987 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.92; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.49; MB_Bottom_Detect_Filter_Max_Range = 214.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 112.525656 meters # Minimum depth: 896.571323 meters looking forward 100.000000 meters along route # Maximum depth: 916.687971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 846.571323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.843612; longitude = -117.572954; captureRadius = 10; duration = 225; initialDepth = 846.446000; finalDepth = 846.571323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.1166479999999 # Actual altitude: 70.1166479999999 # Commanded vehicle depth: 846.571323 # Seafloor depth: -916.687971 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 280.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.05; MB_Bottom_Detect_Filter_Max_Range = 280.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 101.961957 meters # Minimum depth: 896.446000 meters looking forward 100.000000 meters along route # Maximum depth: 898.205644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 846.446000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.844172; longitude = -117.573957; captureRadius = 10; duration = 203; initialDepth = 847.408520; finalDepth = 846.446000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.1166479999999 # Actual altitude: 70.1166479999999 # Commanded vehicle depth: 846.446 # Seafloor depth: -896.446000 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 280.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.05; MB_Bottom_Detect_Filter_Max_Range = 280.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.684040 meters # Minimum depth: 897.408520 meters looking forward 100.000000 meters along route # Maximum depth: 903.951360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 847.408520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.844679; longitude = -117.574866; captureRadius = 10; duration = 215; initialDepth = 851.362229; finalDepth = 847.408520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 847.40852 # Seafloor depth: -897.408520 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 106.801849 meters # Minimum depth: 901.362229 meters looking forward 100.000000 meters along route # Maximum depth: 903.978212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 851.362229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.845215; longitude = -117.575825; captureRadius = 10; duration = 213; initialDepth = 851.034646; finalDepth = 851.362229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.615983 # Actual altitude: 52.615983 # Commanded vehicle depth: 851.362229 # Seafloor depth: -903.978212 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.05; MB_Bottom_Detect_Filter_Max_Range = 210.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 111.731006 meters # Minimum depth: 901.034646 meters looking forward 100.000000 meters along route # Maximum depth: 906.080618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 851.034646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.845747; longitude = -117.576777; captureRadius = 10; duration = 223; initialDepth = 849.076998; finalDepth = 851.034646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.615983 # Actual altitude: 52.615983 # Commanded vehicle depth: 851.034646 # Seafloor depth: -901.722505 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 210.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.05; MB_Bottom_Detect_Filter_Max_Range = 210.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 150.030202 meters # Minimum depth: 899.076998 meters looking forward 100.000000 meters along route # Maximum depth: 905.850006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 849.076998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.846303; longitude = -117.577773; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 849.685608; finalDepth = 849.076998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 56.773008 # Actual altitude: 56.773008 # Commanded vehicle depth: 849.076998 # Seafloor depth: -905.850006 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 227.09; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.71; MB_Bottom_Detect_Filter_Max_Range = 227.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 179.235504 meters # Minimum depth: 899.685608 meters looking forward 100.000000 meters along route # Maximum depth: 905.669217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 849.685608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.847432; longitude = -117.576889; captureRadius = 10; duration = 358; # abortOnTimeout = True; initialDepth = 850.246265; finalDepth = 849.685608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.773008 # Actual altitude: 56.773008 # Commanded vehicle depth: 849.685608 # Seafloor depth: -899.685608 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 227.09; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.71; MB_Bottom_Detect_Filter_Max_Range = 227.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.689286 meters # Minimum depth: 900.246265 meters looking forward 100.000000 meters along route # Maximum depth: 905.564355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 850.246265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.846540; longitude = -117.575292; captureRadius = 10; duration = 211; initialDepth = 853.664890; finalDepth = 850.246265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.31809 # Actual altitude: 55.31809 # Commanded vehicle depth: 850.246265 # Seafloor depth: -905.564355 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.27; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.13; MB_Bottom_Detect_Filter_Max_Range = 221.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.240649 meters # Minimum depth: 903.664890 meters looking forward 100.000000 meters along route # Maximum depth: 907.608749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 853.664890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.846014; longitude = -117.574350; captureRadius = 10; duration = 214; initialDepth = 852.983740; finalDepth = 853.664890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.31809 # Actual altitude: 55.31809 # Commanded vehicle depth: 853.66489 # Seafloor depth: -905.475976 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.27; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.13; MB_Bottom_Detect_Filter_Max_Range = 221.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.241080 meters # Minimum depth: 902.983740 meters looking forward 100.000000 meters along route # Maximum depth: 907.995866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 852.983740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.845480; longitude = -117.573394; captureRadius = 10; duration = 214; initialDepth = 851.597450; finalDepth = 852.983740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.012126 # Actual altitude: 55.012126 # Commanded vehicle depth: 852.98374 # Seafloor depth: -907.995866 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 220.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.241512 meters # Minimum depth: 901.597450 meters looking forward 100.000000 meters along route # Maximum depth: 905.540789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 851.597450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.844946; longitude = -117.572438; captureRadius = 10; duration = 214; initialDepth = 855.946707; finalDepth = 851.597450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.012126 # Actual altitude: 55.012126 # Commanded vehicle depth: 851.59745 # Seafloor depth: -902.929901 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 220.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 111.678956 meters # Minimum depth: 905.946707 meters looking forward 100.000000 meters along route # Maximum depth: 918.422456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.946707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.844412; longitude = -117.571483; captureRadius = 10; duration = 223; initialDepth = 869.616266; finalDepth = 855.946707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.332451 # Actual altitude: 51.332451 # Commanded vehicle depth: 855.946707 # Seafloor depth: -905.946707 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.33; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.805360 meters # Minimum depth: 919.616266 meters looking forward 100.000000 meters along route # Maximum depth: 929.095619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.616266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.843856; longitude = -117.570488; captureRadius = 10; duration = 205; initialDepth = 880.496752; finalDepth = 869.616266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 869.616266 # Seafloor depth: -919.616266 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.242804 meters # Minimum depth: 930.496752 meters looking forward 100.000000 meters along route # Maximum depth: 932.219453 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 880.496752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.843345; longitude = -117.569571; captureRadius = 10; duration = 214; initialDepth = 875.375803; finalDepth = 880.496752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.260688 # Actual altitude: 50.260688 # Commanded vehicle depth: 880.496752 # Seafloor depth: -930.757440 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.04; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 201.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.243236 meters # Minimum depth: 925.375803 meters looking forward 100.000000 meters along route # Maximum depth: 932.193013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 875.375803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.842811; longitude = -117.568616; captureRadius = 10; duration = 214; initialDepth = 884.105200; finalDepth = 875.375803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.8172099999999 # Actual altitude: 56.8172099999999 # Commanded vehicle depth: 875.375803 # Seafloor depth: -932.193013 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 227.27; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.73; MB_Bottom_Detect_Filter_Max_Range = 227.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.243667 meters # Minimum depth: 934.105200 meters looking forward 100.000000 meters along route # Maximum depth: 937.945190 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 884.105200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.842277; longitude = -117.567660; captureRadius = 10; duration = 214; initialDepth = 888.666244; finalDepth = 884.105200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.8172099999999 # Actual altitude: 56.8172099999999 # Commanded vehicle depth: 884.1052 # Seafloor depth: -934.105200 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 227.27; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.73; MB_Bottom_Detect_Filter_Max_Range = 227.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.244098 meters # Minimum depth: 938.666244 meters looking forward 100.000000 meters along route # Maximum depth: 947.353847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 888.666244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.841743; longitude = -117.566704; captureRadius = 10; duration = 214; initialDepth = 896.893438; finalDepth = 888.666244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 888.666244 # Seafloor depth: -938.666244 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.244529 meters # Minimum depth: 946.893438 meters looking forward 100.000000 meters along route # Maximum depth: 960.788049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 896.893438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.841210; longitude = -117.565749; captureRadius = 10; duration = 214; initialDepth = 902.790930; finalDepth = 896.893438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 896.893438 # Seafloor depth: -946.893438 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 109.732549 meters # Minimum depth: 952.790930 meters looking forward 100.000000 meters along route # Maximum depth: 959.097559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 902.790930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.840676; longitude = -117.564793; captureRadius = 10; duration = 219; initialDepth = 909.432328; finalDepth = 902.790930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.93904 # Actual altitude: 51.93904 # Commanded vehicle depth: 902.79093 # Seafloor depth: -954.729970 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.757802 meters # Minimum depth: 959.432328 meters looking forward 100.000000 meters along route # Maximum depth: 962.289952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 909.432328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.840130; longitude = -117.563815; captureRadius = 10; duration = 209; initialDepth = 913.879929; finalDepth = 909.432328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.93904 # Actual altitude: 51.93904 # Commanded vehicle depth: 909.432328 # Seafloor depth: -959.432328 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.245823 meters # Minimum depth: 963.879929 meters looking forward 100.000000 meters along route # Maximum depth: 974.360079 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 913.879929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.839608; longitude = -117.562882; captureRadius = 10; duration = 214; initialDepth = 907.557256; finalDepth = 913.879929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 913.879929 # Seafloor depth: -963.879929 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.246254 meters # Minimum depth: 957.557256 meters looking forward 100.000000 meters along route # Maximum depth: 967.918233 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.557256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.839074; longitude = -117.561926; captureRadius = 10; duration = 214; initialDepth = 871.286344; finalDepth = 907.557256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.3609769999999 # Actual altitude: 60.3609769999999 # Commanded vehicle depth: 907.557256 # Seafloor depth: -967.918233 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 241.44; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.14; MB_Bottom_Detect_Filter_Max_Range = 241.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.246685 meters # Minimum depth: 921.286344 meters looking forward 100.000000 meters along route # Maximum depth: 953.124667 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.286344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.838541; longitude = -117.560970; captureRadius = 10; duration = 214; initialDepth = 852.468619; finalDepth = 871.286344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.8383230000001 # Actual altitude: 81.8383230000001 # Commanded vehicle depth: 871.286344 # Seafloor depth: -953.124667 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 327.35; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.74; MB_Bottom_Detect_Filter_Max_Range = 327.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 112.620945 meters # Minimum depth: 902.468619 meters looking forward 100.000000 meters along route # Maximum depth: 918.484129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 852.468619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.838007; longitude = -117.560014; captureRadius = 10; duration = 225; initialDepth = 851.348244; finalDepth = 852.468619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.8383230000001 # Actual altitude: 81.8383230000001 # Commanded vehicle depth: 852.468619 # Seafloor depth: -918.484129 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 327.35; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.74; MB_Bottom_Detect_Filter_Max_Range = 327.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 101.873719 meters # Minimum depth: 901.348244 meters looking forward 100.000000 meters along route # Maximum depth: 906.975274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 851.348244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.837446; longitude = -117.559011; captureRadius = 10; duration = 203; initialDepth = 850.129618; finalDepth = 851.348244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.0155100000001 # Actual altitude: 66.0155100000001 # Commanded vehicle depth: 851.348244 # Seafloor depth: -903.200169 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 264.06; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.41; MB_Bottom_Detect_Filter_Max_Range = 264.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.786033 meters # Minimum depth: 900.129618 meters looking forward 100.000000 meters along route # Maximum depth: 902.703383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 850.129618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.836939; longitude = -117.558103; captureRadius = 10; duration = 215; initialDepth = 847.644348; finalDepth = 850.129618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8519249999999 # Actual altitude: 51.8519249999999 # Commanded vehicle depth: 850.129618 # Seafloor depth: -900.695455 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.41; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 106.710356 meters # Minimum depth: 897.644348 meters looking forward 100.000000 meters along route # Maximum depth: 901.347984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 847.644348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.836403; longitude = -117.557143; captureRadius = 10; duration = 213; initialDepth = 849.880591; finalDepth = 847.644348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.703636 # Actual altitude: 53.703636 # Commanded vehicle depth: 847.644348 # Seafloor depth: -901.347984 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.81; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.48; MB_Bottom_Detect_Filter_Max_Range = 214.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.248842 meters # Minimum depth: 899.880591 meters looking forward 100.000000 meters along route # Maximum depth: 903.510108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 849.880591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.835872; longitude = -117.556192; captureRadius = 10; duration = 214; initialDepth = 853.871296; finalDepth = 849.880591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.703636 # Actual altitude: 53.703636 # Commanded vehicle depth: 849.880591 # Seafloor depth: -902.082171 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.81; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.48; MB_Bottom_Detect_Filter_Max_Range = 214.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.249273 meters # Minimum depth: 903.871296 meters looking forward 100.000000 meters along route # Maximum depth: 910.829821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 853.871296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.835338; longitude = -117.555236; captureRadius = 10; duration = 214; initialDepth = 855.721390; finalDepth = 853.871296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.20158 # Actual altitude: 52.20158 # Commanded vehicle depth: 853.871296 # Seafloor depth: -903.871296 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.81; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.249704 meters # Minimum depth: 905.721390 meters looking forward 100.000000 meters along route # Maximum depth: 913.264268 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.721390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.834804; longitude = -117.554280; captureRadius = 10; duration = 214; initialDepth = 853.420092; finalDepth = 855.721390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.7730019999999 # Actual altitude: 56.7730019999999 # Commanded vehicle depth: 855.72139 # Seafloor depth: -912.494392 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 227.09; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.71; MB_Bottom_Detect_Filter_Max_Range = 227.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 110.674470 meters # Minimum depth: 903.420092 meters looking forward 100.000000 meters along route # Maximum depth: 908.709231 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 853.420092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.834270; longitude = -117.553325; captureRadius = 10; duration = 221; initialDepth = 855.415893; finalDepth = 853.420092; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.7730019999999 # Actual altitude: 56.7730019999999 # Commanded vehicle depth: 853.420092 # Seafloor depth: -905.927153 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 227.09; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.71; MB_Bottom_Detect_Filter_Max_Range = 227.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 103.826232 meters # Minimum depth: 905.415893 meters looking forward 100.000000 meters along route # Maximum depth: 909.400029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.415893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.833719; longitude = -117.552338; captureRadius = 10; duration = 207; initialDepth = 857.671393; finalDepth = 855.415893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.507061 # Actual altitude: 52.507061 # Commanded vehicle depth: 855.415893 # Seafloor depth: -907.598943 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.03; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 210.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.250999 meters # Minimum depth: 907.671393 meters looking forward 100.000000 meters along route # Maximum depth: 910.339782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 857.671393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.833203; longitude = -117.551413; captureRadius = 10; duration = 214; initialDepth = 855.666249; finalDepth = 857.671393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.18305 # Actual altitude: 52.18305 # Commanded vehicle depth: 857.671393 # Seafloor depth: -909.300374 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.73; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.87; MB_Bottom_Detect_Filter_Max_Range = 208.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.251429 meters # Minimum depth: 905.666249 meters looking forward 100.000000 meters along route # Maximum depth: 907.877311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.666249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832669; longitude = -117.550458; captureRadius = 10; duration = 214; initialDepth = 855.998068; finalDepth = 855.666249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.042534 # Actual altitude: 52.042534 # Commanded vehicle depth: 855.666249 # Seafloor depth: -907.708783 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.17; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.251861 meters # Minimum depth: 905.998068 meters looking forward 100.000000 meters along route # Maximum depth: 910.059171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.998068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832135; longitude = -117.549502; captureRadius = 10; duration = 214; initialDepth = 856.568572; finalDepth = 855.998068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.042534 # Actual altitude: 52.042534 # Commanded vehicle depth: 855.998068 # Seafloor depth: -905.998068 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.17; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 113.563026 meters # Minimum depth: 906.568572 meters looking forward 100.000000 meters along route # Maximum depth: 909.545970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 856.568572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831601; longitude = -117.548546; captureRadius = 10; duration = 227; initialDepth = 857.537611; finalDepth = 856.568572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.977398 # Actual altitude: 52.977398 # Commanded vehicle depth: 856.568572 # Seafloor depth: -909.545970 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.91; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.19; MB_Bottom_Detect_Filter_Max_Range = 211.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.941991 meters # Minimum depth: 907.537611 meters looking forward 100.000000 meters along route # Maximum depth: 912.594890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 857.537611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831036; longitude = -117.547534; captureRadius = 10; duration = 201; initialDepth = 856.432597; finalDepth = 857.537611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.977398 # Actual altitude: 52.977398 # Commanded vehicle depth: 857.537611 # Seafloor depth: -907.537611 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.91; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.19; MB_Bottom_Detect_Filter_Max_Range = 211.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 108.727888 meters # Minimum depth: 906.432597 meters looking forward 100.000000 meters along route # Maximum depth: 907.888739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 856.432597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830534; longitude = -117.546635; captureRadius = 10; duration = 217; initialDepth = 857.472709; finalDepth = 856.432597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.046998 # Actual altitude: 51.046998 # Commanded vehicle depth: 856.432597 # Seafloor depth: -907.479595 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.19; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 119.854897 meters # Minimum depth: 907.472709 meters looking forward 100.000000 meters along route # Maximum depth: 909.430237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 857.472709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.829993; longitude = -117.545666; captureRadius = 10; duration = 239; initialDepth = 850.450165; finalDepth = 857.472709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.046998 # Actual altitude: 51.046998 # Commanded vehicle depth: 857.472709 # Seafloor depth: -907.965772 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 204.19; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 149.945499 meters # Minimum depth: 900.450165 meters looking forward 100.000000 meters along route # Maximum depth: 910.890060 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 850.450165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.829396; longitude = -117.544598; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 848.668814; finalDepth = 850.450165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 60.439895 # Actual altitude: 60.439895 # Commanded vehicle depth: 850.450165 # Seafloor depth: -910.890060 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 241.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.18; MB_Bottom_Detect_Filter_Max_Range = 241.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 162.814186 meters # Minimum depth: 898.668814 meters looking forward 100.000000 meters along route # Maximum depth: 905.355877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 848.668814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830524; longitude = -117.543714; captureRadius = 10; duration = 325; # abortOnTimeout = True; initialDepth = 849.351843; finalDepth = 848.668814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.439895 # Actual altitude: 60.439895 # Commanded vehicle depth: 848.668814 # Seafloor depth: -900.450943 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 241.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.18; MB_Bottom_Detect_Filter_Max_Range = 241.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 107.249730 meters # Minimum depth: 899.351843 meters looking forward 100.000000 meters along route # Maximum depth: 905.158552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 849.351843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831334; longitude = -117.545165; captureRadius = 10; duration = 214; initialDepth = 849.157698; finalDepth = 849.351843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.806709 # Actual altitude: 55.806709 # Commanded vehicle depth: 849.351843 # Seafloor depth: -905.158552 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 223.23; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.32; MB_Bottom_Detect_Filter_Max_Range = 223.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.249298 meters # Minimum depth: 899.157698 meters looking forward 100.000000 meters along route # Maximum depth: 904.260102 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 849.157698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831868; longitude = -117.546120; captureRadius = 10; duration = 214; initialDepth = 846.816543; finalDepth = 849.157698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.806709 # Actual altitude: 55.806709 # Commanded vehicle depth: 849.157698 # Seafloor depth: -903.857652 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 223.23; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.32; MB_Bottom_Detect_Filter_Max_Range = 223.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 111.323865 meters # Minimum depth: 896.816543 meters looking forward 100.000000 meters along route # Maximum depth: 900.711573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 846.816543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832402; longitude = -117.547076; captureRadius = 10; duration = 222; initialDepth = 846.716740; finalDepth = 846.816543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.699954 # Actual altitude: 54.699954 # Commanded vehicle depth: 846.816543 # Seafloor depth: -900.711573 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.80; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.88; MB_Bottom_Detect_Filter_Max_Range = 218.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 103.173437 meters # Minimum depth: 896.716740 meters looking forward 100.000000 meters along route # Maximum depth: 898.736547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 846.716740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832956; longitude = -117.548068; captureRadius = 10; duration = 206; initialDepth = 847.968374; finalDepth = 846.716740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.89503 # Actual altitude: 53.89503 # Commanded vehicle depth: 846.71674 # Seafloor depth: -897.270057 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 215.58; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.56; MB_Bottom_Detect_Filter_Max_Range = 215.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.248004 meters # Minimum depth: 897.968374 meters looking forward 100.000000 meters along route # Maximum depth: 898.973905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 847.968374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.833470; longitude = -117.548987; captureRadius = 10; duration = 214; initialDepth = 848.400873; finalDepth = 847.968374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.892198 # Actual altitude: 50.892198 # Commanded vehicle depth: 847.968374 # Seafloor depth: -898.860572 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.57; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.247573 meters # Minimum depth: 898.400873 meters looking forward 100.000000 meters along route # Maximum depth: 902.382331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 848.400873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.834003; longitude = -117.549943; captureRadius = 10; duration = 214; initialDepth = 851.682195; finalDepth = 848.400873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.892198 # Actual altitude: 50.892198 # Commanded vehicle depth: 848.400873 # Seafloor depth: -898.400873 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.57; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.247141 meters # Minimum depth: 901.682195 meters looking forward 100.000000 meters along route # Maximum depth: 903.546089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 851.682195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.834537; longitude = -117.550899; captureRadius = 10; duration = 214; initialDepth = 850.615904; finalDepth = 851.682195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.116634 # Actual altitude: 50.116634 # Commanded vehicle depth: 851.682195 # Seafloor depth: -901.798829 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.05; MB_Bottom_Detect_Filter_Max_Range = 200.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 114.224488 meters # Minimum depth: 900.615904 meters looking forward 100.000000 meters along route # Maximum depth: 903.307945 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 850.615904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.835071; longitude = -117.551854; captureRadius = 10; duration = 228; initialDepth = 851.759105; finalDepth = 850.615904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.755509 # Actual altitude: 51.755509 # Commanded vehicle depth: 850.615904 # Seafloor depth: -902.371413 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.02; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 207.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.268500 meters # Minimum depth: 901.759105 meters looking forward 100.000000 meters along route # Maximum depth: 904.822400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 851.759105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.835639; longitude = -117.552872; captureRadius = 10; duration = 200; initialDepth = 848.312712; finalDepth = 851.759105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.755509 # Actual altitude: 51.755509 # Commanded vehicle depth: 851.759105 # Seafloor depth: -902.095205 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.02; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 207.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 109.394362 meters # Minimum depth: 898.312712 meters looking forward 100.000000 meters along route # Maximum depth: 901.761072 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 848.312712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.836139; longitude = -117.553766; captureRadius = 10; duration = 218; initialDepth = 846.092626; finalDepth = 848.312712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0308789999999 # Actual altitude: 53.0308789999999 # Commanded vehicle depth: 848.312712 # Seafloor depth: -901.343591 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.12; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 105.096901 meters # Minimum depth: 896.092626 meters looking forward 100.000000 meters along route # Maximum depth: 900.174801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 846.092626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.836683; longitude = -117.554741; captureRadius = 10; duration = 210; initialDepth = 846.044384; finalDepth = 846.092626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0308789999999 # Actual altitude: 53.0308789999999 # Commanded vehicle depth: 846.092626 # Seafloor depth: -898.246402 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.12; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.244985 meters # Minimum depth: 896.044384 meters looking forward 100.000000 meters along route # Maximum depth: 898.548076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 846.044384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.837206; longitude = -117.555677; captureRadius = 10; duration = 214; initialDepth = 849.167867; finalDepth = 846.044384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.153776 # Actual altitude: 52.153776 # Commanded vehicle depth: 846.044384 # Seafloor depth: -896.145654 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.62; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 208.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.244553 meters # Minimum depth: 899.167867 meters looking forward 100.000000 meters along route # Maximum depth: 910.743947 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 849.167867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.837740; longitude = -117.556633; captureRadius = 10; duration = 214; initialDepth = 862.411531; finalDepth = 849.167867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.10127 # Actual altitude: 50.10127 # Commanded vehicle depth: 849.167867 # Seafloor depth: -899.167867 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.41; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 200.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.244122 meters # Minimum depth: 912.411531 meters looking forward 100.000000 meters along route # Maximum depth: 923.175091 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 862.411531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.838274; longitude = -117.557588; captureRadius = 10; duration = 214; initialDepth = 875.255234; finalDepth = 862.411531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 862.411531 # Seafloor depth: -912.411531 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 112.294942 meters # Minimum depth: 925.255234 meters looking forward 100.000000 meters along route # Maximum depth: 949.412461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 875.255234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.838808; longitude = -117.558544; captureRadius = 10; duration = 224; initialDepth = 900.163986; finalDepth = 875.255234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 875.255234 # Seafloor depth: -925.255234 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.192007 meters # Minimum depth: 950.163986 meters looking forward 100.000000 meters along route # Maximum depth: 959.837073 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 900.163986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.839366; longitude = -117.559545; captureRadius = 10; duration = 204; initialDepth = 911.736223; finalDepth = 900.163986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 900.163986 # Seafloor depth: -950.163986 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.464967 meters # Minimum depth: 961.736223 meters looking forward 100.000000 meters along route # Maximum depth: 975.739905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 911.736223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.839875; longitude = -117.560455; captureRadius = 10; duration = 214; initialDepth = 914.508707; finalDepth = 911.736223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 911.736223 # Seafloor depth: -961.736223 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.020258 meters # Minimum depth: 964.508707 meters looking forward 100.000000 meters along route # Maximum depth: 975.753643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 914.508707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.840410; longitude = -117.561413; captureRadius = 10; duration = 214; initialDepth = 908.854057; finalDepth = 914.508707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.2449360000001 # Actual altitude: 61.2449360000001 # Commanded vehicle depth: 914.508707 # Seafloor depth: -975.753643 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 244.98; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.50; MB_Bottom_Detect_Filter_Max_Range = 244.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 244.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.241966 meters # Minimum depth: 958.854057 meters looking forward 100.000000 meters along route # Maximum depth: 963.550393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 908.854057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.840943; longitude = -117.562367; captureRadius = 10; duration = 214; initialDepth = 906.350726; finalDepth = 908.854057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.2449360000001 # Actual altitude: 61.2449360000001 # Commanded vehicle depth: 908.854057 # Seafloor depth: -963.550393 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 244.98; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.50; MB_Bottom_Detect_Filter_Max_Range = 244.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 244.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.241534 meters # Minimum depth: 956.350726 meters looking forward 100.000000 meters along route # Maximum depth: 958.909518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 906.350726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.841476; longitude = -117.563322; captureRadius = 10; duration = 214; initialDepth = 900.242126; finalDepth = 906.350726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.696336 # Actual altitude: 54.696336 # Commanded vehicle depth: 906.350726 # Seafloor depth: -958.909518 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.88; MB_Bottom_Detect_Filter_Max_Range = 218.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.241104 meters # Minimum depth: 950.242126 meters looking forward 100.000000 meters along route # Maximum depth: 964.057646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 900.242126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.842010; longitude = -117.564278; captureRadius = 10; duration = 214; initialDepth = 896.778144; finalDepth = 900.242126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.4048740000001 # Actual altitude: 62.4048740000001 # Commanded vehicle depth: 900.242126 # Seafloor depth: -962.647000 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 249.62; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.96; MB_Bottom_Detect_Filter_Max_Range = 249.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 110.365505 meters # Minimum depth: 946.778144 meters looking forward 100.000000 meters along route # Maximum depth: 949.891607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 896.778144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.842544; longitude = -117.565234; captureRadius = 10; duration = 220; initialDepth = 889.944876; finalDepth = 896.778144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.4048740000001 # Actual altitude: 62.4048740000001 # Commanded vehicle depth: 896.778144 # Seafloor depth: -949.891607 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 249.62; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.96; MB_Bottom_Detect_Filter_Max_Range = 249.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.115408 meters # Minimum depth: 939.944876 meters looking forward 100.000000 meters along route # Maximum depth: 951.135694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 889.944876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.843093; longitude = -117.566217; captureRadius = 10; duration = 208; initialDepth = 870.720334; finalDepth = 889.944876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.358354 # Actual altitude: 58.358354 # Commanded vehicle depth: 889.944876 # Seafloor depth: -948.303230 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 233.43; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.34; MB_Bottom_Detect_Filter_Max_Range = 233.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.239809 meters # Minimum depth: 920.720334 meters looking forward 100.000000 meters along route # Maximum depth: 935.085382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.720334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.843612; longitude = -117.567145; captureRadius = 10; duration = 214; initialDepth = 861.673482; finalDepth = 870.720334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.365048 # Actual altitude: 64.365048 # Commanded vehicle depth: 870.720334 # Seafloor depth: -935.085382 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 257.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.75; MB_Bottom_Detect_Filter_Max_Range = 257.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.239379 meters # Minimum depth: 911.673482 meters looking forward 100.000000 meters along route # Maximum depth: 920.597836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 861.673482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.844145; longitude = -117.568101; captureRadius = 10; duration = 214; initialDepth = 849.224375; finalDepth = 861.673482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.365048 # Actual altitude: 64.365048 # Commanded vehicle depth: 861.673482 # Seafloor depth: -920.597836 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 257.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.75; MB_Bottom_Detect_Filter_Max_Range = 257.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.238948 meters # Minimum depth: 899.224375 meters looking forward 100.000000 meters along route # Maximum depth: 907.152062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 849.224375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.844679; longitude = -117.569056; captureRadius = 10; duration = 214; initialDepth = 847.895635; finalDepth = 849.224375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.924354 # Actual altitude: 58.924354 # Commanded vehicle depth: 849.224375 # Seafloor depth: -907.152062 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 235.70; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.57; MB_Bottom_Detect_Filter_Max_Range = 235.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 113.265927 meters # Minimum depth: 897.895635 meters looking forward 100.000000 meters along route # Maximum depth: 900.997568 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 847.895635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.845213; longitude = -117.570012; captureRadius = 10; duration = 226; initialDepth = 843.395384; finalDepth = 847.895635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.927687 # Actual altitude: 57.927687 # Commanded vehicle depth: 847.895635 # Seafloor depth: -898.978737 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 231.71; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.17; MB_Bottom_Detect_Filter_Max_Range = 231.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 101.210675 meters # Minimum depth: 893.395384 meters looking forward 100.000000 meters along route # Maximum depth: 897.801517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 843.395384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.845777; longitude = -117.571021; captureRadius = 10; duration = 202; initialDepth = 843.919107; finalDepth = 843.395384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.406133 # Actual altitude: 54.406133 # Commanded vehicle depth: 843.395384 # Seafloor depth: -897.801517 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 217.62; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.76; MB_Bottom_Detect_Filter_Max_Range = 217.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 108.436177 meters # Minimum depth: 893.919107 meters looking forward 100.000000 meters along route # Maximum depth: 913.839551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 843.919107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.846281; longitude = -117.571923; captureRadius = 10; duration = 216; initialDepth = 856.472226; finalDepth = 843.919107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.406133 # Actual altitude: 54.406133 # Commanded vehicle depth: 843.919107 # Seafloor depth: -893.919107 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 217.62; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.76; MB_Bottom_Detect_Filter_Max_Range = 217.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 119.797462 meters # Minimum depth: 906.472226 meters looking forward 100.000000 meters along route # Maximum depth: 913.743139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 856.472226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.846820; longitude = -117.572890; captureRadius = 10; duration = 239; initialDepth = 851.197923; finalDepth = 856.472226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2709130000001 # Actual altitude: 57.2709130000001 # Commanded vehicle depth: 856.472226 # Seafloor depth: -913.743139 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 229.08; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.91; MB_Bottom_Detect_Filter_Max_Range = 229.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 119.796923 meters # Minimum depth: 901.197923 meters looking forward 100.000000 meters along route # Maximum depth: 906.532990 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 851.197923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.847417; longitude = -117.573957; captureRadius = 10; duration = 239; initialDepth = 852.534453; finalDepth = 851.197923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2709130000001 # Actual altitude: 57.2709130000001 # Commanded vehicle depth: 851.197923 # Seafloor depth: -906.532990 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 229.08; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.91; MB_Bottom_Detect_Filter_Max_Range = 229.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 109.877208 meters # Minimum depth: 902.534453 meters looking forward 100.000000 meters along route # Maximum depth: 908.520818 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 852.534453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.848013; longitude = -117.575025; captureRadius = 10; duration = 219; initialDepth = 854.129336; finalDepth = 852.534453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.3350670000001 # Actual altitude: 55.3350670000001 # Commanded vehicle depth: 852.534453 # Seafloor depth: -905.038951 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 221.34; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.13; MB_Bottom_Detect_Filter_Max_Range = 221.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 150.029051 meters # Minimum depth: 904.129336 meters looking forward 100.000000 meters along route # Maximum depth: 909.504113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 854.129336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.848560; longitude = -117.576004; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 849.854830; finalDepth = 854.129336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 53.720411 # Actual altitude: 53.720411 # Commanded vehicle depth: 854.129336 # Seafloor depth: -907.849747 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 214.88; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.49; MB_Bottom_Detect_Filter_Max_Range = 214.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 148.534130 meters # Minimum depth: 899.854830 meters looking forward 100.000000 meters along route # Maximum depth: 904.039978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 849.854830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.849689; longitude = -117.575120; captureRadius = 10; duration = 297; # abortOnTimeout = True; initialDepth = 848.842770; finalDepth = 849.854830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.185148 # Actual altitude: 54.185148 # Commanded vehicle depth: 849.85483 # Seafloor depth: -904.039978 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.74; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.67; MB_Bottom_Detect_Filter_Max_Range = 216.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 107.238201 meters # Minimum depth: 898.842770 meters looking forward 100.000000 meters along route # Maximum depth: 906.719372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 848.842770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.848950; longitude = -117.573796; captureRadius = 10; duration = 214; initialDepth = 847.971280; finalDepth = 848.842770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.683189 # Actual altitude: 54.683189 # Commanded vehicle depth: 848.84277 # Seafloor depth: -903.525959 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.73; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.87; MB_Bottom_Detect_Filter_Max_Range = 218.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 114.294078 meters # Minimum depth: 897.971280 meters looking forward 100.000000 meters along route # Maximum depth: 907.075459 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 847.971280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.848416; longitude = -117.572841; captureRadius = 10; duration = 228; initialDepth = 844.275383; finalDepth = 847.971280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.104179 # Actual altitude: 59.104179 # Commanded vehicle depth: 847.97128 # Seafloor depth: -907.075459 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 236.42; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.64; MB_Bottom_Detect_Filter_Max_Range = 236.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.183618 meters # Minimum depth: 894.275383 meters looking forward 100.000000 meters along route # Maximum depth: 900.037236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 844.275383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.847847; longitude = -117.571822; captureRadius = 10; duration = 200; initialDepth = 843.840881; finalDepth = 844.275383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.104179 # Actual altitude: 59.104179 # Commanded vehicle depth: 844.275383 # Seafloor depth: -900.037236 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 236.42; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.64; MB_Bottom_Detect_Filter_Max_Range = 236.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 109.459561 meters # Minimum depth: 893.840881 meters looking forward 100.000000 meters along route # Maximum depth: 908.289171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 843.840881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.847348; longitude = -117.570929; captureRadius = 10; duration = 218; initialDepth = 858.697377; finalDepth = 843.840881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.761853 # Actual altitude: 55.761853 # Commanded vehicle depth: 843.840881 # Seafloor depth: -894.015255 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 223.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.30; MB_Bottom_Detect_Filter_Max_Range = 223.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 105.019859 meters # Minimum depth: 908.697377 meters looking forward 100.000000 meters along route # Maximum depth: 922.012608 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 858.697377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.846803; longitude = -117.569954; captureRadius = 10; duration = 210; initialDepth = 873.859463; finalDepth = 858.697377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1743740000001 # Actual altitude: 50.1743740000001 # Commanded vehicle depth: 858.697377 # Seafloor depth: -908.697377 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.70; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.240357 meters # Minimum depth: 923.859463 meters looking forward 100.000000 meters along route # Maximum depth: 937.266320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.859463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.846281; longitude = -117.569018; captureRadius = 10; duration = 214; initialDepth = 887.671989; finalDepth = 873.859463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 873.859463 # Seafloor depth: -923.859463 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.240788 meters # Minimum depth: 937.671989 meters looking forward 100.000000 meters along route # Maximum depth: 942.947970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 887.671989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.845747; longitude = -117.568062; captureRadius = 10; duration = 214; initialDepth = 895.020844; finalDepth = 887.671989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 887.671989 # Seafloor depth: -937.671989 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.241219 meters # Minimum depth: 945.020844 meters looking forward 100.000000 meters along route # Maximum depth: 951.301993 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 895.020844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.845213; longitude = -117.567106; captureRadius = 10; duration = 214; initialDepth = 902.423205; finalDepth = 895.020844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 895.020844 # Seafloor depth: -945.020844 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 112.347804 meters # Minimum depth: 952.423205 meters looking forward 100.000000 meters along route # Maximum depth: 956.995414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 902.423205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.844679; longitude = -117.566151; captureRadius = 10; duration = 224; initialDepth = 904.933264; finalDepth = 902.423205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 902.423205 # Seafloor depth: -952.423205 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.135928 meters # Minimum depth: 954.933264 meters looking forward 100.000000 meters along route # Maximum depth: 958.144800 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 904.933264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.844120; longitude = -117.565150; captureRadius = 10; duration = 204; initialDepth = 908.790824; finalDepth = 904.933264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 904.933264 # Seafloor depth: -954.933264 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.513136 meters # Minimum depth: 958.790824 meters looking forward 100.000000 meters along route # Maximum depth: 966.268205 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 908.790824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.843612; longitude = -117.564239; captureRadius = 10; duration = 215; initialDepth = 914.046862; finalDepth = 908.790824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 908.790824 # Seafloor depth: -958.790824 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 106.972320 meters # Minimum depth: 964.046862 meters looking forward 100.000000 meters along route # Maximum depth: 966.264695 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 914.046862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.843077; longitude = -117.563281; captureRadius = 10; duration = 213; initialDepth = 913.307385; finalDepth = 914.046862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2178329999999 # Actual altitude: 52.2178329999999 # Commanded vehicle depth: 914.046862 # Seafloor depth: -966.264695 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.87; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 208.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.243375 meters # Minimum depth: 963.307385 meters looking forward 100.000000 meters along route # Maximum depth: 968.207953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 913.307385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.842544; longitude = -117.562328; captureRadius = 10; duration = 214; initialDepth = 916.345875; finalDepth = 913.307385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2178329999999 # Actual altitude: 52.2178329999999 # Commanded vehicle depth: 913.307385 # Seafloor depth: -963.307385 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.87; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 208.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.243807 meters # Minimum depth: 966.345875 meters looking forward 100.000000 meters along route # Maximum depth: 968.185420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 916.345875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.842010; longitude = -117.561372; captureRadius = 10; duration = 214; initialDepth = 897.964055; finalDepth = 916.345875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.616025 # Actual altitude: 51.616025 # Commanded vehicle depth: 916.345875 # Seafloor depth: -967.961900 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 206.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.244238 meters # Minimum depth: 947.964055 meters looking forward 100.000000 meters along route # Maximum depth: 965.946397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 897.964055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.841476; longitude = -117.560417; captureRadius = 10; duration = 214; initialDepth = 881.538926; finalDepth = 897.964055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.982342 # Actual altitude: 67.982342 # Commanded vehicle depth: 897.964055 # Seafloor depth: -965.946397 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 271.93; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.19; MB_Bottom_Detect_Filter_Max_Range = 271.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 110.401421 meters # Minimum depth: 931.538926 meters looking forward 100.000000 meters along route # Maximum depth: 946.080399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 881.538926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.840943; longitude = -117.559461; captureRadius = 10; duration = 220; initialDepth = 864.251715; finalDepth = 881.538926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.982342 # Actual altitude: 67.982342 # Commanded vehicle depth: 881.538926 # Seafloor depth: -946.080399 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 271.93; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.19; MB_Bottom_Detect_Filter_Max_Range = 271.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.088348 meters # Minimum depth: 914.251715 meters looking forward 100.000000 meters along route # Maximum depth: 930.902154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 864.251715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.840393; longitude = -117.558477; captureRadius = 10; duration = 208; initialDepth = 859.084220; finalDepth = 864.251715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.650439 # Actual altitude: 66.650439 # Commanded vehicle depth: 864.251715 # Seafloor depth: -930.902154 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 266.60; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.66; MB_Bottom_Detect_Filter_Max_Range = 266.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.245532 meters # Minimum depth: 909.084220 meters looking forward 100.000000 meters along route # Maximum depth: 913.639113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.084220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.839875; longitude = -117.557550; captureRadius = 10; duration = 214; initialDepth = 859.175750; finalDepth = 859.084220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.650439 # Actual altitude: 66.650439 # Commanded vehicle depth: 859.08422 # Seafloor depth: -913.639113 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 266.60; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.66; MB_Bottom_Detect_Filter_Max_Range = 266.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.245963 meters # Minimum depth: 909.175750 meters looking forward 100.000000 meters along route # Maximum depth: 911.000937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.175750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.839341; longitude = -117.556594; captureRadius = 10; duration = 214; initialDepth = 847.455631; finalDepth = 859.175750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.554893 # Actual altitude: 54.554893 # Commanded vehicle depth: 859.17575 # Seafloor depth: -909.175750 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.22; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.82; MB_Bottom_Detect_Filter_Max_Range = 218.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.246394 meters # Minimum depth: 897.455631 meters looking forward 100.000000 meters along route # Maximum depth: 907.112343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 847.455631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.838808; longitude = -117.555638; captureRadius = 10; duration = 214; initialDepth = 842.059937; finalDepth = 847.455631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.656712 # Actual altitude: 59.656712 # Commanded vehicle depth: 847.455631 # Seafloor depth: -907.112343 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 238.63; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.86; MB_Bottom_Detect_Filter_Max_Range = 238.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 113.289824 meters # Minimum depth: 892.059937 meters looking forward 100.000000 meters along route # Maximum depth: 896.779462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 842.059937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.838274; longitude = -117.554682; captureRadius = 10; duration = 226; initialDepth = 842.975476; finalDepth = 842.059937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.656712 # Actual altitude: 59.656712 # Commanded vehicle depth: 842.059937 # Seafloor depth: -896.779462 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 238.63; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.86; MB_Bottom_Detect_Filter_Max_Range = 238.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 101.204259 meters # Minimum depth: 892.975476 meters looking forward 100.000000 meters along route # Maximum depth: 894.286777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 842.975476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.837710; longitude = -117.553673; captureRadius = 10; duration = 202; initialDepth = 843.637550; finalDepth = 842.975476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.719525 # Actual altitude: 54.719525 # Commanded vehicle depth: 842.975476 # Seafloor depth: -892.975476 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.88; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.89; MB_Bottom_Detect_Filter_Max_Range = 218.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 108.454930 meters # Minimum depth: 893.637550 meters looking forward 100.000000 meters along route # Maximum depth: 897.081056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 843.637550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.837206; longitude = -117.552771; captureRadius = 10; duration = 216; initialDepth = 847.087735; finalDepth = 843.637550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 843.63755 # Seafloor depth: -893.637550 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 106.040878 meters # Minimum depth: 897.087735 meters looking forward 100.000000 meters along route # Maximum depth: 897.668913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 847.087735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.836666; longitude = -117.551805; captureRadius = 10; duration = 212; initialDepth = 847.919299; finalDepth = 847.087735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 847.087735 # Seafloor depth: -897.087735 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.248552 meters # Minimum depth: 897.919299 meters looking forward 100.000000 meters along route # Maximum depth: 898.871149 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 847.919299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.836139; longitude = -117.550860; captureRadius = 10; duration = 214; initialDepth = 846.209746; finalDepth = 847.919299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.259099 # Actual altitude: 50.259099 # Commanded vehicle depth: 847.919299 # Seafloor depth: -898.178398 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.04; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 201.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.248983 meters # Minimum depth: 896.209746 meters looking forward 100.000000 meters along route # Maximum depth: 897.889348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 846.209746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.835605; longitude = -117.549904; captureRadius = 10; duration = 214; initialDepth = 844.969049; finalDepth = 846.209746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.679602 # Actual altitude: 51.679602 # Commanded vehicle depth: 846.209746 # Seafloor depth: -897.889348 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.72; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 206.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.249414 meters # Minimum depth: 894.969049 meters looking forward 100.000000 meters along route # Maximum depth: 895.594656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 844.969049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.835071; longitude = -117.548948; captureRadius = 10; duration = 214; initialDepth = 843.531445; finalDepth = 844.969049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.679602 # Actual altitude: 51.679602 # Commanded vehicle depth: 844.969049 # Seafloor depth: -895.594656 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.72; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 206.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 111.343375 meters # Minimum depth: 893.531445 meters looking forward 100.000000 meters along route # Maximum depth: 895.166846 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 843.531445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.834537; longitude = -117.547993; captureRadius = 10; duration = 222; initialDepth = 842.817172; finalDepth = 843.531445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.635401 # Actual altitude: 51.635401 # Commanded vehicle depth: 843.531445 # Seafloor depth: -895.166846 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.54; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 206.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 119.808414 meters # Minimum depth: 892.817172 meters looking forward 100.000000 meters along route # Maximum depth: 896.056261 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 842.817172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.833983; longitude = -117.547000; captureRadius = 10; duration = 239; initialDepth = 846.499991; finalDepth = 842.817172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.635401 # Actual altitude: 51.635401 # Commanded vehicle depth: 842.817172 # Seafloor depth: -893.557321 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.54; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 206.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 119.808953 meters # Minimum depth: 896.499991 meters looking forward 100.000000 meters along route # Maximum depth: 904.344202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 846.499991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.833387; longitude = -117.545933; captureRadius = 10; duration = 239; initialDepth = 841.740588; finalDepth = 846.499991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.740149 # Actual altitude: 50.740149 # Commanded vehicle depth: 846.499991 # Seafloor depth: -896.499991 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.96; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 119.809491 meters # Minimum depth: 891.740588 meters looking forward 100.000000 meters along route # Maximum depth: 899.785476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 841.740588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832790; longitude = -117.544865; captureRadius = 10; duration = 239; initialDepth = 842.468891; finalDepth = 841.740588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.263636 # Actual altitude: 54.263636 # Commanded vehicle depth: 841.740588 # Seafloor depth: -896.004224 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 217.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.71; MB_Bottom_Detect_Filter_Max_Range = 217.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 108.710150 meters # Minimum depth: 892.468891 meters looking forward 100.000000 meters along route # Maximum depth: 900.187317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 842.468891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832194; longitude = -117.543798; captureRadius = 10; duration = 217; initialDepth = 847.308990; finalDepth = 842.468891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.263636 # Actual altitude: 54.263636 # Commanded vehicle depth: 842.468891 # Seafloor depth: -892.468891 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 217.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.71; MB_Bottom_Detect_Filter_Max_Range = 217.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 149.996016 meters # Minimum depth: 897.308990 meters looking forward 100.000000 meters along route # Maximum depth: 899.338583 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 847.308990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831653; longitude = -117.542829; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 846.287696; finalDepth = 847.308990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 51.894471 # Actual altitude: 51.894471 # Commanded vehicle depth: 847.30899 # Seafloor depth: -899.203461 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 207.58; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.76; MB_Bottom_Detect_Filter_Max_Range = 207.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 88.217108 meters # Minimum depth: 896.287696 meters looking forward 100.000000 meters along route # Maximum depth: 898.103104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 846.287696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832781; longitude = -117.541944; captureRadius = 10; duration = 176; # abortOnTimeout = True; initialDepth = 842.594328; finalDepth = 846.287696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.894471 # Actual altitude: 51.894471 # Commanded vehicle depth: 846.287696 # Seafloor depth: -898.103104 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.58; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.76; MB_Bottom_Detect_Filter_Max_Range = 207.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 103.752464 meters # Minimum depth: 892.594328 meters looking forward 100.000000 meters along route # Maximum depth: 896.166046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 842.594328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.833220; longitude = -117.542730; captureRadius = 10; duration = 207; initialDepth = 843.763341; finalDepth = 842.594328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.571718 # Actual altitude: 53.571718 # Commanded vehicle depth: 842.594328 # Seafloor depth: -896.166046 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.29; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.43; MB_Bottom_Detect_Filter_Max_Range = 214.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.252335 meters # Minimum depth: 893.763341 meters looking forward 100.000000 meters along route # Maximum depth: 898.152382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 843.763341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.833736; longitude = -117.543655; captureRadius = 10; duration = 214; initialDepth = 842.682509; finalDepth = 843.763341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.571718 # Actual altitude: 53.571718 # Commanded vehicle depth: 843.763341 # Seafloor depth: -893.763341 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.29; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.43; MB_Bottom_Detect_Filter_Max_Range = 214.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.251903 meters # Minimum depth: 892.682509 meters looking forward 100.000000 meters along route # Maximum depth: 895.306845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 842.682509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.834270; longitude = -117.544610; captureRadius = 10; duration = 214; initialDepth = 840.810847; finalDepth = 842.682509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.624336 # Actual altitude: 52.624336 # Commanded vehicle depth: 842.682509 # Seafloor depth: -895.306845 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.50; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.05; MB_Bottom_Detect_Filter_Max_Range = 210.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.251472 meters # Minimum depth: 890.810847 meters looking forward 100.000000 meters along route # Maximum depth: 893.706290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 840.810847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.834804; longitude = -117.545566; captureRadius = 10; duration = 214; initialDepth = 842.551288; finalDepth = 840.810847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.895443 # Actual altitude: 52.895443 # Commanded vehicle depth: 840.810847 # Seafloor depth: -893.706290 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.58; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.16; MB_Bottom_Detect_Filter_Max_Range = 211.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 113.620859 meters # Minimum depth: 892.551288 meters looking forward 100.000000 meters along route # Maximum depth: 894.069931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 842.551288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.835338; longitude = -117.546522; captureRadius = 10; duration = 227; initialDepth = 842.677958; finalDepth = 842.551288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.895443 # Actual altitude: 52.895443 # Commanded vehicle depth: 842.551288 # Seafloor depth: -892.551288 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.58; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.16; MB_Bottom_Detect_Filter_Max_Range = 211.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.880790 meters # Minimum depth: 892.677958 meters looking forward 100.000000 meters along route # Maximum depth: 895.575464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 842.677958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.835903; longitude = -117.547534; captureRadius = 10; duration = 201; initialDepth = 845.216236; finalDepth = 842.677958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 842.677958 # Seafloor depth: -892.677958 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 108.777556 meters # Minimum depth: 895.216236 meters looking forward 100.000000 meters along route # Maximum depth: 896.048731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 845.216236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.836405; longitude = -117.548433; captureRadius = 10; duration = 217; initialDepth = 845.637671; finalDepth = 845.216236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4221660000001 # Actual altitude: 50.4221660000001 # Commanded vehicle depth: 845.216236 # Seafloor depth: -895.638402 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.69; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.722367 meters # Minimum depth: 895.637671 meters looking forward 100.000000 meters along route # Maximum depth: 895.855955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 845.637671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.836947; longitude = -117.549403; captureRadius = 10; duration = 211; initialDepth = 845.046115; finalDepth = 845.637671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4221660000001 # Actual altitude: 50.4221660000001 # Commanded vehicle depth: 845.637671 # Seafloor depth: -895.637671 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.69; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.249315 meters # Minimum depth: 895.046115 meters looking forward 100.000000 meters along route # Maximum depth: 895.580129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 845.046115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.837473; longitude = -117.550345; captureRadius = 10; duration = 214; initialDepth = 842.077937; finalDepth = 845.046115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5340140000001 # Actual altitude: 50.5340140000001 # Commanded vehicle depth: 845.046115 # Seafloor depth: -895.580129 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.14; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.248883 meters # Minimum depth: 892.077937 meters looking forward 100.000000 meters along route # Maximum depth: 895.216817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 842.077937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.838007; longitude = -117.551300; captureRadius = 10; duration = 214; initialDepth = 841.999109; finalDepth = 842.077937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.13888 # Actual altitude: 53.13888 # Commanded vehicle depth: 842.077937 # Seafloor depth: -895.216817 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.56; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.26; MB_Bottom_Detect_Filter_Max_Range = 212.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.248451 meters # Minimum depth: 891.999109 meters looking forward 100.000000 meters along route # Maximum depth: 892.350884 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 841.999109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.838541; longitude = -117.552256; captureRadius = 10; duration = 214; initialDepth = 842.938861; finalDepth = 841.999109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.13888 # Actual altitude: 53.13888 # Commanded vehicle depth: 841.999109 # Seafloor depth: -892.155817 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.56; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.26; MB_Bottom_Detect_Filter_Max_Range = 212.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 111.644874 meters # Minimum depth: 892.938861 meters looking forward 100.000000 meters along route # Maximum depth: 906.710862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 842.938861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.839074; longitude = -117.553212; captureRadius = 10; duration = 223; initialDepth = 855.796157; finalDepth = 842.938861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.156708 # Actual altitude: 50.156708 # Commanded vehicle depth: 842.938861 # Seafloor depth: -892.938861 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.63; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 102.850735 meters # Minimum depth: 905.796157 meters looking forward 100.000000 meters along route # Maximum depth: 908.308137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.796157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.839630; longitude = -117.554207; captureRadius = 10; duration = 205; initialDepth = 857.405090; finalDepth = 855.796157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.868024 # Actual altitude: 50.868024 # Commanded vehicle depth: 855.796157 # Seafloor depth: -906.664181 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.247157 meters # Minimum depth: 907.405090 meters looking forward 100.000000 meters along route # Maximum depth: 907.927003 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 857.405090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.840142; longitude = -117.555123; captureRadius = 10; duration = 214; initialDepth = 857.954872; finalDepth = 857.405090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.868024 # Actual altitude: 50.868024 # Commanded vehicle depth: 857.40509 # Seafloor depth: -907.809749 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.246726 meters # Minimum depth: 907.954872 meters looking forward 100.000000 meters along route # Maximum depth: 911.960733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 857.954872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.840676; longitude = -117.556079; captureRadius = 10; duration = 214; initialDepth = 860.440666; finalDepth = 857.954872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.404659 # Actual altitude: 50.404659 # Commanded vehicle depth: 857.954872 # Seafloor depth: -907.954872 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.62; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.16; MB_Bottom_Detect_Filter_Max_Range = 201.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.246294 meters # Minimum depth: 910.440666 meters looking forward 100.000000 meters along route # Maximum depth: 916.627595 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.440666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.841210; longitude = -117.557035; captureRadius = 10; duration = 214; initialDepth = 866.850273; finalDepth = 860.440666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.181024 # Actual altitude: 50.181024 # Commanded vehicle depth: 860.440666 # Seafloor depth: -910.621690 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.72; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.245863 meters # Minimum depth: 916.850273 meters looking forward 100.000000 meters along route # Maximum depth: 928.407237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.850273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.841743; longitude = -117.557990; captureRadius = 10; duration = 214; initialDepth = 883.026460; finalDepth = 866.850273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.181024 # Actual altitude: 50.181024 # Commanded vehicle depth: 866.850273 # Seafloor depth: -916.850273 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.72; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.245432 meters # Minimum depth: 933.026460 meters looking forward 100.000000 meters along route # Maximum depth: 946.212032 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 883.026460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.842277; longitude = -117.558946; captureRadius = 10; duration = 214; initialDepth = 897.918159; finalDepth = 883.026460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 883.02646 # Seafloor depth: -933.026460 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 109.669001 meters # Minimum depth: 947.918159 meters looking forward 100.000000 meters along route # Maximum depth: 957.776677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 897.918159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.842811; longitude = -117.559902; captureRadius = 10; duration = 219; initialDepth = 904.499001; finalDepth = 897.918159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 897.918159 # Seafloor depth: -947.918159 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.820569 meters # Minimum depth: 954.499001 meters looking forward 100.000000 meters along route # Maximum depth: 958.629128 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 904.499001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.843357; longitude = -117.560879; captureRadius = 10; duration = 209; initialDepth = 903.832458; finalDepth = 904.499001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.769109 # Actual altitude: 53.769109 # Commanded vehicle depth: 904.499001 # Seafloor depth: -958.268110 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 215.08; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.51; MB_Bottom_Detect_Filter_Max_Range = 215.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.244137 meters # Minimum depth: 953.832458 meters looking forward 100.000000 meters along route # Maximum depth: 959.228085 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 903.832458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.843879; longitude = -117.561813; captureRadius = 10; duration = 214; initialDepth = 903.877253; finalDepth = 903.832458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.635901 # Actual altitude: 54.635901 # Commanded vehicle depth: 903.832458 # Seafloor depth: -958.468359 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.54; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.85; MB_Bottom_Detect_Filter_Max_Range = 218.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.243707 meters # Minimum depth: 953.877253 meters looking forward 100.000000 meters along route # Maximum depth: 956.284187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 903.877253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.844412; longitude = -117.562769; captureRadius = 10; duration = 214; initialDepth = 905.424562; finalDepth = 903.877253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.635901 # Actual altitude: 54.635901 # Commanded vehicle depth: 903.877253 # Seafloor depth: -953.877253 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.54; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.85; MB_Bottom_Detect_Filter_Max_Range = 218.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.243275 meters # Minimum depth: 955.424562 meters looking forward 100.000000 meters along route # Maximum depth: 957.764821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 905.424562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.844946; longitude = -117.563725; captureRadius = 10; duration = 214; initialDepth = 906.164729; finalDepth = 905.424562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 905.424562 # Seafloor depth: -955.424562 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 112.536164 meters # Minimum depth: 956.164729 meters looking forward 100.000000 meters along route # Maximum depth: 957.562824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 906.164729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.845480; longitude = -117.564680; captureRadius = 10; duration = 225; initialDepth = 904.612243; finalDepth = 906.164729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.398095 # Actual altitude: 51.398095 # Commanded vehicle depth: 906.164729 # Seafloor depth: -957.562824 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.59; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 205.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 101.949093 meters # Minimum depth: 954.612243 meters looking forward 100.000000 meters along route # Maximum depth: 956.356500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 904.612243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.846040; longitude = -117.565683; captureRadius = 10; duration = 203; initialDepth = 900.751708; finalDepth = 904.612243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7442569999999 # Actual altitude: 51.7442569999999 # Commanded vehicle depth: 904.612243 # Seafloor depth: -956.356500 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.98; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 206.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.693239 meters # Minimum depth: 950.751708 meters looking forward 100.000000 meters along route # Maximum depth: 954.751545 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 900.751708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.846548; longitude = -117.566592; captureRadius = 10; duration = 215; initialDepth = 895.913942; finalDepth = 900.751708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.913896 # Actual altitude: 53.913896 # Commanded vehicle depth: 900.751708 # Seafloor depth: -954.665604 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 215.66; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.57; MB_Bottom_Detect_Filter_Max_Range = 215.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 106.790293 meters # Minimum depth: 945.913942 meters looking forward 100.000000 meters along route # Maximum depth: 950.736664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 895.913942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.847084; longitude = -117.567552; captureRadius = 10; duration = 213; initialDepth = 882.782365; finalDepth = 895.913942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.822722 # Actual altitude: 54.822722 # Commanded vehicle depth: 895.913942 # Seafloor depth: -950.736664 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 219.29; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.93; MB_Bottom_Detect_Filter_Max_Range = 219.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.241119 meters # Minimum depth: 932.782365 meters looking forward 100.000000 meters along route # Maximum depth: 944.587827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 882.782365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.847615; longitude = -117.568503; captureRadius = 10; duration = 214; initialDepth = 870.087240; finalDepth = 882.782365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.8054619999999 # Actual altitude: 61.8054619999999 # Commanded vehicle depth: 882.782365 # Seafloor depth: -944.587827 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 247.22; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.72; MB_Bottom_Detect_Filter_Max_Range = 247.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.240688 meters # Minimum depth: 920.087240 meters looking forward 100.000000 meters along route # Maximum depth: 932.375130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.087240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.848149; longitude = -117.569459; captureRadius = 10; duration = 214; initialDepth = 849.106605; finalDepth = 870.087240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.2878900000001 # Actual altitude: 62.2878900000001 # Commanded vehicle depth: 870.08724 # Seafloor depth: -932.375130 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 249.15; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.92; MB_Bottom_Detect_Filter_Max_Range = 249.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.240257 meters # Minimum depth: 899.106605 meters looking forward 100.000000 meters along route # Maximum depth: 915.226618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 849.106605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.848683; longitude = -117.570415; captureRadius = 10; duration = 214; initialDepth = 836.493334; finalDepth = 849.106605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.1200130000001 # Actual altitude: 66.1200130000001 # Commanded vehicle depth: 849.106605 # Seafloor depth: -915.226618 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 264.48; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.45; MB_Bottom_Detect_Filter_Max_Range = 264.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 110.560362 meters # Minimum depth: 886.493334 meters looking forward 100.000000 meters along route # Maximum depth: 898.585737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 836.493334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.849217; longitude = -117.571371; captureRadius = 10; duration = 221; initialDepth = 836.663043; finalDepth = 836.493334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.1200130000001 # Actual altitude: 66.1200130000001 # Commanded vehicle depth: 836.493334 # Seafloor depth: -898.585737 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 264.48; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.45; MB_Bottom_Detect_Filter_Max_Range = 264.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 103.918859 meters # Minimum depth: 886.663043 meters looking forward 100.000000 meters along route # Maximum depth: 896.212250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 836.663043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.849767; longitude = -117.572356; captureRadius = 10; duration = 207; initialDepth = 844.954226; finalDepth = 836.663043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.092403 # Actual altitude: 62.092403 # Commanded vehicle depth: 836.663043 # Seafloor depth: -886.663043 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 248.37; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.84; MB_Bottom_Detect_Filter_Max_Range = 248.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.051935 meters # Minimum depth: 894.954226 meters looking forward 100.000000 meters along route # Maximum depth: 903.364499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 844.954226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.850284; longitude = -117.573282; captureRadius = 10; duration = 214; initialDepth = 845.328378; finalDepth = 844.954226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.1432520000001 # Actual altitude: 50.1432520000001 # Commanded vehicle depth: 844.954226 # Seafloor depth: -895.097478 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 200.57; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 111.426522 meters # Minimum depth: 895.328378 meters looking forward 100.000000 meters along route # Maximum depth: 901.650986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 845.328378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.850817; longitude = -117.574236; captureRadius = 10; duration = 222; # abortOnTimeout = True; initialDepth = 836.446993; finalDepth = 845.328378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3226079999999 # Actual altitude: 56.3226079999999 # Commanded vehicle depth: 845.328378 # Seafloor depth: -901.650986 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 225.29; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.53; MB_Bottom_Detect_Filter_Max_Range = 225.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.199440 meters # Minimum depth: 886.446993 meters looking forward 100.000000 meters along route # Maximum depth: 894.549220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 836.446993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.850393; longitude = -117.573157; captureRadius = 10; duration = 220; initialDepth = 837.695124; finalDepth = 836.446993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.102227 # Actual altitude: 58.102227 # Commanded vehicle depth: 836.446993 # Seafloor depth: -894.549220 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 232.41; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.24; MB_Bottom_Detect_Filter_Max_Range = 232.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 110.199851 meters # Minimum depth: 887.695124 meters looking forward 100.000000 meters along route # Maximum depth: 903.361455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 837.695124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.849973; longitude = -117.572089; captureRadius = 10; duration = 220; initialDepth = 860.471577; finalDepth = 837.695124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.102227 # Actual altitude: 58.102227 # Commanded vehicle depth: 837.695124 # Seafloor depth: -888.922655 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 232.41; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.24; MB_Bottom_Detect_Filter_Max_Range = 232.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 110.200261 meters # Minimum depth: 910.471577 meters looking forward 100.000000 meters along route # Maximum depth: 929.839684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.471577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.849554; longitude = -117.571021; captureRadius = 10; duration = 220; initialDepth = 883.024607; finalDepth = 860.471577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.227531 # Actual altitude: 51.227531 # Commanded vehicle depth: 860.471577 # Seafloor depth: -910.471577 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.91; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 118.540071 meters # Minimum depth: 933.024607 meters looking forward 100.000000 meters along route # Maximum depth: 947.264561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 883.024607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.849134; longitude = -117.569954; captureRadius = 10; duration = 237; initialDepth = 898.118530; finalDepth = 883.024607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 883.024607 # Seafloor depth: -933.024607 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.861683 meters # Minimum depth: 948.118530 meters looking forward 100.000000 meters along route # Maximum depth: 953.621684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 898.118530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.848683; longitude = -117.568805; captureRadius = 10; duration = 203; initialDepth = 903.757212; finalDepth = 898.118530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 898.11853 # Seafloor depth: -948.118530 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 110.201492 meters # Minimum depth: 953.757212 meters looking forward 100.000000 meters along route # Maximum depth: 956.767869 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 903.757212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.848295; longitude = -117.567819; captureRadius = 10; duration = 220; initialDepth = 900.956368; finalDepth = 903.757212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 903.757212 # Seafloor depth: -953.757212 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 110.201903 meters # Minimum depth: 950.956368 meters looking forward 100.000000 meters along route # Maximum depth: 954.563834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 900.956368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.847875; longitude = -117.566751; captureRadius = 10; duration = 220; initialDepth = 895.940646; finalDepth = 900.956368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.607466 # Actual altitude: 53.607466 # Commanded vehicle depth: 900.956368 # Seafloor depth: -954.563834 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.43; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 214.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 110.202314 meters # Minimum depth: 945.940646 meters looking forward 100.000000 meters along route # Maximum depth: 950.783263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 895.940646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.847456; longitude = -117.565683; captureRadius = 10; duration = 220; initialDepth = 897.369876; finalDepth = 895.940646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.842617 # Actual altitude: 54.842617 # Commanded vehicle depth: 895.940646 # Seafloor depth: -950.783263 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 219.37; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.94; MB_Bottom_Detect_Filter_Max_Range = 219.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 110.202724 meters # Minimum depth: 947.369876 meters looking forward 100.000000 meters along route # Maximum depth: 951.378003 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 897.369876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.847036; longitude = -117.564616; captureRadius = 10; duration = 220; initialDepth = 893.034419; finalDepth = 897.369876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.842617 # Actual altitude: 54.842617 # Commanded vehicle depth: 897.369876 # Seafloor depth: -947.369876 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 219.37; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.94; MB_Bottom_Detect_Filter_Max_Range = 219.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 118.107850 meters # Minimum depth: 943.034419 meters looking forward 100.000000 meters along route # Maximum depth: 950.874398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 893.034419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.846617; longitude = -117.563548; captureRadius = 10; duration = 236; initialDepth = 892.739700; finalDepth = 893.034419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 57.1900290000001 # Actual altitude: 57.1900290000001 # Commanded vehicle depth: 893.034419 # Seafloor depth: -950.224448 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 228.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.88; MB_Bottom_Detect_Filter_Max_Range = 228.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 126.792166 meters # Minimum depth: 942.739700 meters looking forward 100.000000 meters along route # Maximum depth: 952.736896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 892.739700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.846167; longitude = -117.562404; captureRadius = 10; duration = 253; # abortOnTimeout = True; initialDepth = 903.276515; finalDepth = 892.739700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1900290000001 # Actual altitude: 57.1900290000001 # Commanded vehicle depth: 892.7397 # Seafloor depth: -942.739700 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 228.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.88; MB_Bottom_Detect_Filter_Max_Range = 228.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 112.581462 meters # Minimum depth: 953.276515 meters looking forward 100.000000 meters along route # Maximum depth: 957.285003 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 903.276515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.845213; longitude = -117.563151; captureRadius = 10; duration = 225; initialDepth = 907.396409; finalDepth = 903.276515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 903.276515 # Seafloor depth: -953.276515 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.267839 meters # Minimum depth: 957.396409 meters looking forward 100.000000 meters along route # Maximum depth: 958.553305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.396409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.844366; longitude = -117.563815; captureRadius = 10; duration = 200; initialDepth = 901.965729; finalDepth = 907.396409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 907.396409 # Seafloor depth: -957.396409 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.425084 meters # Minimum depth: 951.965729 meters looking forward 100.000000 meters along route # Maximum depth: 957.803521 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 901.965729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.843612; longitude = -117.564406; captureRadius = 10; duration = 212; initialDepth = 897.184422; finalDepth = 901.965729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.837792 # Actual altitude: 55.837792 # Commanded vehicle depth: 901.965729 # Seafloor depth: -957.803521 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 223.35; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.34; MB_Bottom_Detect_Filter_Max_Range = 223.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 110.245726 meters # Minimum depth: 947.184422 meters looking forward 100.000000 meters along route # Maximum depth: 951.112720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 897.184422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.842811; longitude = -117.565033; captureRadius = 10; duration = 220; initialDepth = 894.882947; finalDepth = 897.184422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.837792 # Actual altitude: 55.837792 # Commanded vehicle depth: 897.184422 # Seafloor depth: -951.112720 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 223.35; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.34; MB_Bottom_Detect_Filter_Max_Range = 223.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 102.605312 meters # Minimum depth: 944.882947 meters looking forward 100.000000 meters along route # Maximum depth: 947.800015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 894.882947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.841982; longitude = -117.565683; captureRadius = 10; duration = 205; initialDepth = 888.859895; finalDepth = 894.882947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9282979999999 # Actual altitude: 53.9282979999999 # Commanded vehicle depth: 894.882947 # Seafloor depth: -947.407031 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 215.71; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.57; MB_Bottom_Detect_Filter_Max_Range = 215.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.425953 meters # Minimum depth: 938.859895 meters looking forward 100.000000 meters along route # Maximum depth: 943.116488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 888.859895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.841210; longitude = -117.566288; captureRadius = 10; duration = 212; initialDepth = 890.593782; finalDepth = 888.859895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.256593 # Actual altitude: 54.256593 # Commanded vehicle depth: 888.859895 # Seafloor depth: -943.116488 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 217.03; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.70; MB_Bottom_Detect_Filter_Max_Range = 217.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.909951 meters # Minimum depth: 940.593782 meters looking forward 100.000000 meters along route # Maximum depth: 941.997680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 890.593782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.840409; longitude = -117.566916; captureRadius = 10; duration = 215; initialDepth = 891.223024; finalDepth = 890.593782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.256593 # Actual altitude: 54.256593 # Commanded vehicle depth: 890.593782 # Seafloor depth: -940.878094 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 217.03; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.70; MB_Bottom_Detect_Filter_Max_Range = 217.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 104.942823 meters # Minimum depth: 941.223024 meters looking forward 100.000000 meters along route # Maximum depth: 941.963072 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 891.223024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.839597; longitude = -117.567552; captureRadius = 10; duration = 209; initialDepth = 891.841047; finalDepth = 891.223024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.740048 # Actual altitude: 50.740048 # Commanded vehicle depth: 891.223024 # Seafloor depth: -941.963072 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.96; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.426822 meters # Minimum depth: 941.841047 meters looking forward 100.000000 meters along route # Maximum depth: 942.048907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 891.841047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.838808; longitude = -117.568170; captureRadius = 10; duration = 212; initialDepth = 892.294467; finalDepth = 891.841047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.740048 # Actual altitude: 50.740048 # Commanded vehicle depth: 891.841047 # Seafloor depth: -941.841047 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.96; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.427111 meters # Minimum depth: 942.294467 meters looking forward 100.000000 meters along route # Maximum depth: 946.023622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 892.294467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.838007; longitude = -117.568798; captureRadius = 10; duration = 212; initialDepth = 896.063360; finalDepth = 892.294467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 892.294467 # Seafloor depth: -942.294467 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.427401 meters # Minimum depth: 946.063360 meters looking forward 100.000000 meters along route # Maximum depth: 953.112158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 896.063360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.837206; longitude = -117.569425; captureRadius = 10; duration = 212; initialDepth = 903.117687; finalDepth = 896.063360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 896.06336 # Seafloor depth: -946.063360 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.427690 meters # Minimum depth: 953.117687 meters looking forward 100.000000 meters along route # Maximum depth: 961.981184 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 903.117687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.836405; longitude = -117.570052; captureRadius = 10; duration = 212; initialDepth = 915.905161; finalDepth = 903.117687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 903.117687 # Seafloor depth: -953.117687 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.427980 meters # Minimum depth: 965.905161 meters looking forward 100.000000 meters along route # Maximum depth: 967.105778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.905161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.835605; longitude = -117.570680; captureRadius = 10; duration = 212; initialDepth = 916.616488; finalDepth = 915.905161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6718589999999 # Actual altitude: 50.6718589999999 # Commanded vehicle depth: 915.905161 # Seafloor depth: -966.577020 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.69; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.428269 meters # Minimum depth: 966.616488 meters looking forward 100.000000 meters along route # Maximum depth: 973.986223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 916.616488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.834804; longitude = -117.571307; captureRadius = 10; duration = 212; initialDepth = 931.914906; finalDepth = 916.616488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6718589999999 # Actual altitude: 50.6718589999999 # Commanded vehicle depth: 916.616488 # Seafloor depth: -966.616488 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.69; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.428559 meters # Minimum depth: 981.914906 meters looking forward 100.000000 meters along route # Maximum depth: 1038.805607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.914906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.834003; longitude = -117.571934; captureRadius = 10; duration = 212; initialDepth = 910.344140; finalDepth = 931.914906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 931.914906 # Seafloor depth: -981.914906 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.428849 meters # Minimum depth: 960.344140 meters looking forward 100.000000 meters along route # Maximum depth: 977.823284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 910.344140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.833203; longitude = -117.572562; captureRadius = 10; duration = 212; initialDepth = 900.100719; finalDepth = 910.344140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.4791439999999 # Actual altitude: 67.4791439999999 # Commanded vehicle depth: 910.34414 # Seafloor depth: -977.823284 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 269.92; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.99; MB_Bottom_Detect_Filter_Max_Range = 269.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.429138 meters # Minimum depth: 950.100719 meters looking forward 100.000000 meters along route # Maximum depth: 959.343131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 900.100719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832402; longitude = -117.573189; captureRadius = 10; duration = 212; initialDepth = 898.295981; finalDepth = 900.100719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.4791439999999 # Actual altitude: 67.4791439999999 # Commanded vehicle depth: 900.100719 # Seafloor depth: -959.343131 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 269.92; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.99; MB_Bottom_Detect_Filter_Max_Range = 269.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.429428 meters # Minimum depth: 948.295981 meters looking forward 100.000000 meters along route # Maximum depth: 953.766759 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 898.295981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831601; longitude = -117.573816; captureRadius = 10; duration = 212; initialDepth = 898.864677; finalDepth = 898.295981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.2424119999999 # Actual altitude: 59.2424119999999 # Commanded vehicle depth: 898.295981 # Seafloor depth: -953.766759 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 236.97; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.70; MB_Bottom_Detect_Filter_Max_Range = 236.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.429717 meters # Minimum depth: 948.864677 meters looking forward 100.000000 meters along route # Maximum depth: 962.175611 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 898.864677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830801; longitude = -117.574444; captureRadius = 10; duration = 212; initialDepth = 897.604648; finalDepth = 898.864677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.470778 # Actual altitude: 55.470778 # Commanded vehicle depth: 898.864677 # Seafloor depth: -948.864677 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.88; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.19; MB_Bottom_Detect_Filter_Max_Range = 221.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.430007 meters # Minimum depth: 947.604648 meters looking forward 100.000000 meters along route # Maximum depth: 962.656401 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 897.604648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830000; longitude = -117.575071; captureRadius = 10; duration = 212; initialDepth = 893.758737; finalDepth = 897.604648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.051753 # Actual altitude: 65.051753 # Commanded vehicle depth: 897.604648 # Seafloor depth: -962.656401 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 260.21; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.02; MB_Bottom_Detect_Filter_Max_Range = 260.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 260.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 112.102245 meters # Minimum depth: 943.758737 meters looking forward 100.000000 meters along route # Maximum depth: 957.884100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 893.758737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.829199; longitude = -117.575699; captureRadius = 10; duration = 224; initialDepth = 901.553466; finalDepth = 893.758737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.051753 # Actual altitude: 65.051753 # Commanded vehicle depth: 893.758737 # Seafloor depth: -943.758737 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 260.21; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.02; MB_Bottom_Detect_Filter_Max_Range = 260.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 260.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.758637 meters # Minimum depth: 951.553466 meters looking forward 100.000000 meters along route # Maximum depth: 957.166098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 901.553466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828356; longitude = -117.576359; captureRadius = 10; duration = 201; initialDepth = 904.219966; finalDepth = 901.553466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6126320000001 # Actual altitude: 55.6126320000001 # Commanded vehicle depth: 901.553466 # Seafloor depth: -957.166098 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.45; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.25; MB_Bottom_Detect_Filter_Max_Range = 222.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.430876 meters # Minimum depth: 954.219966 meters looking forward 100.000000 meters along route # Maximum depth: 972.167512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 904.219966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.827598; longitude = -117.576953; captureRadius = 10; duration = 212; initialDepth = 919.603061; finalDepth = 904.219966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6126320000001 # Actual altitude: 55.6126320000001 # Commanded vehicle depth: 904.219966 # Seafloor depth: -954.219966 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.45; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.25; MB_Bottom_Detect_Filter_Max_Range = 222.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 109.766379 meters # Minimum depth: 969.603061 meters looking forward 100.000000 meters along route # Maximum depth: 996.135912 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.603061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.826797; longitude = -117.577581; captureRadius = 10; duration = 219; initialDepth = 926.298826; finalDepth = 919.603061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 919.603061 # Seafloor depth: -969.603061 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 103.096242 meters # Minimum depth: 976.298826 meters looking forward 100.000000 meters along route # Maximum depth: 994.391365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.298826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.825971; longitude = -117.578228; captureRadius = 10; duration = 206; initialDepth = 931.424772; finalDepth = 926.298826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.092539 # Actual altitude: 68.092539 # Commanded vehicle depth: 926.298826 # Seafloor depth: -994.391365 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 272.37; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.24; MB_Bottom_Detect_Filter_Max_Range = 272.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.431744 meters # Minimum depth: 981.424772 meters looking forward 100.000000 meters along route # Maximum depth: 997.287288 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.424772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.825196; longitude = -117.578835; captureRadius = 10; duration = 212; initialDepth = 933.089765; finalDepth = 931.424772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.092539 # Actual altitude: 68.092539 # Commanded vehicle depth: 931.424772 # Seafloor depth: -981.664633 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 272.37; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.24; MB_Bottom_Detect_Filter_Max_Range = 272.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.430474 meters # Minimum depth: 983.089765 meters looking forward 100.000000 meters along route # Maximum depth: 984.015291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.089765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.824395; longitude = -117.579463; captureRadius = 10; duration = 214; initialDepth = 909.781179; finalDepth = 933.089765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5270439999999 # Actual altitude: 50.5270439999999 # Commanded vehicle depth: 933.089765 # Seafloor depth: -983.616809 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.11; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 105.433884 meters # Minimum depth: 959.781179 meters looking forward 100.000000 meters along route # Maximum depth: 983.831883 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 909.781179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.823587; longitude = -117.580096; captureRadius = 10; duration = 210; initialDepth = 909.369322; finalDepth = 909.781179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.050704 # Actual altitude: 74.050704 # Commanded vehicle depth: 909.781179 # Seafloor depth: -983.831883 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 296.20; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.62; MB_Bottom_Detect_Filter_Max_Range = 296.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 296.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 104.957066 meters # Minimum depth: 959.369322 meters looking forward 100.000000 meters along route # Maximum depth: 974.050149 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 909.369322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.822794; longitude = -117.580717; captureRadius = 10; duration = 209; initialDepth = 915.889816; finalDepth = 909.369322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 74.050704 # Actual altitude: 74.050704 # Commanded vehicle depth: 909.369322 # Seafloor depth: -959.369322 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 296.20; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.62; MB_Bottom_Detect_Filter_Max_Range = 296.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 296.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 109.492115 meters # Minimum depth: 965.889816 meters looking forward 100.000000 meters along route # Maximum depth: 977.792896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.889816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.822004; longitude = -117.581336; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 920.634898; finalDepth = 915.889816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 915.889816 # Seafloor depth: -965.889816 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 107.261993 meters # Minimum depth: 970.634898 meters looking forward 100.000000 meters along route # Maximum depth: 983.832079 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.634898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.821459; longitude = -117.580360; captureRadius = 10; duration = 214; initialDepth = 935.970222; finalDepth = 920.634898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 920.634898 # Seafloor depth: -970.634898 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 107.262424 meters # Minimum depth: 985.970222 meters looking forward 100.000000 meters along route # Maximum depth: 995.302375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.970222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.820925; longitude = -117.579405; captureRadius = 10; duration = 214; initialDepth = 941.236441; finalDepth = 935.970222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 935.970222 # Seafloor depth: -985.970222 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 107.262854 meters # Minimum depth: 991.236441 meters looking forward 100.000000 meters along route # Maximum depth: 995.999635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.236441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.820392; longitude = -117.578449; captureRadius = 10; duration = 214; initialDepth = 937.549244; finalDepth = 941.236441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6986459999999 # Actual altitude: 54.6986459999999 # Commanded vehicle depth: 941.236441 # Seafloor depth: -995.935087 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.88; MB_Bottom_Detect_Filter_Max_Range = 218.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 107.263285 meters # Minimum depth: 987.549244 meters looking forward 100.000000 meters along route # Maximum depth: 994.384222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.549244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.819858; longitude = -117.577493; captureRadius = 10; duration = 214; initialDepth = 932.604350; finalDepth = 937.549244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6986459999999 # Actual altitude: 54.6986459999999 # Commanded vehicle depth: 937.549244 # Seafloor depth: -988.225241 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.88; MB_Bottom_Detect_Filter_Max_Range = 218.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 109.880607 meters # Minimum depth: 982.604350 meters looking forward 100.000000 meters along route # Maximum depth: 992.283356 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.604350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.819324; longitude = -117.576538; captureRadius = 10; duration = 219; initialDepth = 917.478186; finalDepth = 932.604350; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6790060000001 # Actual altitude: 59.6790060000001 # Commanded vehicle depth: 932.60435 # Seafloor depth: -992.283356 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 238.72; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.87; MB_Bottom_Detect_Filter_Max_Range = 238.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 104.647256 meters # Minimum depth: 967.478186 meters looking forward 100.000000 meters along route # Maximum depth: 982.827280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.478186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.818777; longitude = -117.575559; captureRadius = 10; duration = 209; initialDepth = 898.015958; finalDepth = 917.478186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.088664 # Actual altitude: 65.088664 # Commanded vehicle depth: 917.478186 # Seafloor depth: -982.566850 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 260.35; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.04; MB_Bottom_Detect_Filter_Max_Range = 260.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 260.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 107.264577 meters # Minimum depth: 948.015958 meters looking forward 100.000000 meters along route # Maximum depth: 964.167286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 898.015958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.818256; longitude = -117.574626; captureRadius = 10; duration = 214; initialDepth = 888.430518; finalDepth = 898.015958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.151328 # Actual altitude: 66.151328 # Commanded vehicle depth: 898.015958 # Seafloor depth: -964.167286 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 264.61; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.46; MB_Bottom_Detect_Filter_Max_Range = 264.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 117.601400 meters # Minimum depth: 938.430518 meters looking forward 100.000000 meters along route # Maximum depth: 953.427248 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 888.430518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.817723; longitude = -117.573671; captureRadius = 10; duration = 235; initialDepth = 886.208392; finalDepth = 888.430518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.151328 # Actual altitude: 66.151328 # Commanded vehicle depth: 888.430518 # Seafloor depth: -953.427248 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 264.61; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.46; MB_Bottom_Detect_Filter_Max_Range = 264.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 119.824002 meters # Minimum depth: 936.208392 meters looking forward 100.000000 meters along route # Maximum depth: 940.636602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 886.208392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.817137; longitude = -117.572623; captureRadius = 10; duration = 239; initialDepth = 886.570922; finalDepth = 886.208392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.99673 # Actual altitude: 64.99673 # Commanded vehicle depth: 886.208392 # Seafloor depth: -939.029796 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 259.99; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.00; MB_Bottom_Detect_Filter_Max_Range = 259.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 259.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 110.119308 meters # Minimum depth: 936.570922 meters looking forward 100.000000 meters along route # Maximum depth: 941.518405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 886.570922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.816541; longitude = -117.571555; captureRadius = 10; duration = 220; initialDepth = 885.047908; finalDepth = 886.570922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 52.821404 # Actual altitude: 52.821404 # Commanded vehicle depth: 886.570922 # Seafloor depth: -936.570922 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 211.29; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 123.472602 meters # Minimum depth: 935.047908 meters looking forward 100.000000 meters along route # Maximum depth: 941.130600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 885.047908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.815993; longitude = -117.570574; captureRadius = 10; duration = 246; # abortOnTimeout = True; initialDepth = 883.377854; finalDepth = 885.047908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.082692 # Actual altitude: 56.082692 # Commanded vehicle depth: 885.047908 # Seafloor depth: -941.130600 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 224.33; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.43; MB_Bottom_Detect_Filter_Max_Range = 224.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 106.439007 meters # Minimum depth: 933.377854 meters looking forward 100.000000 meters along route # Maximum depth: 934.394571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 883.377854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.816922; longitude = -117.569846; captureRadius = 10; duration = 212; initialDepth = 879.847245; finalDepth = 883.377854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.082692 # Actual altitude: 56.082692 # Commanded vehicle depth: 883.377854 # Seafloor depth: -934.394571 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 224.33; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.43; MB_Bottom_Detect_Filter_Max_Range = 224.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.438718 meters # Minimum depth: 929.847245 meters looking forward 100.000000 meters along route # Maximum depth: 932.737882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 879.847245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.817723; longitude = -117.569219; captureRadius = 10; duration = 212; initialDepth = 873.495575; finalDepth = 879.847245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.890637 # Actual altitude: 52.890637 # Commanded vehicle depth: 879.847245 # Seafloor depth: -932.737882 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.56; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.16; MB_Bottom_Detect_Filter_Max_Range = 211.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.438428 meters # Minimum depth: 923.495575 meters looking forward 100.000000 meters along route # Maximum depth: 929.595823 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.495575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.818523; longitude = -117.568591; captureRadius = 10; duration = 212; initialDepth = 873.990684; finalDepth = 873.495575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.100248 # Actual altitude: 56.100248 # Commanded vehicle depth: 873.495575 # Seafloor depth: -929.595823 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 224.40; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.44; MB_Bottom_Detect_Filter_Max_Range = 224.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.438139 meters # Minimum depth: 923.990684 meters looking forward 100.000000 meters along route # Maximum depth: 925.846723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.990684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.819324; longitude = -117.567964; captureRadius = 10; duration = 212; initialDepth = 870.124571; finalDepth = 873.990684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.100248 # Actual altitude: 56.100248 # Commanded vehicle depth: 873.990684 # Seafloor depth: -925.313012 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 224.40; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.44; MB_Bottom_Detect_Filter_Max_Range = 224.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.437849 meters # Minimum depth: 920.124571 meters looking forward 100.000000 meters along route # Maximum depth: 925.047219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.124571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.820125; longitude = -117.567336; captureRadius = 10; duration = 212; initialDepth = 870.086963; finalDepth = 870.124571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.9226480000001 # Actual altitude: 54.9226480000001 # Commanded vehicle depth: 870.124571 # Seafloor depth: -925.047219 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 219.69; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.97; MB_Bottom_Detect_Filter_Max_Range = 219.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.437560 meters # Minimum depth: 920.086963 meters looking forward 100.000000 meters along route # Maximum depth: 921.285550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.086963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.820925; longitude = -117.566709; captureRadius = 10; duration = 212; initialDepth = 868.259180; finalDepth = 870.086963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.9226480000001 # Actual altitude: 54.9226480000001 # Commanded vehicle depth: 870.086963 # Seafloor depth: -920.447217 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 219.69; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.97; MB_Bottom_Detect_Filter_Max_Range = 219.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 112.808482 meters # Minimum depth: 918.259180 meters looking forward 100.000000 meters along route # Maximum depth: 920.174692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.259180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.821726; longitude = -117.566081; captureRadius = 10; duration = 225; initialDepth = 866.848195; finalDepth = 868.259180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.915512 # Actual altitude: 51.915512 # Commanded vehicle depth: 868.25918 # Seafloor depth: -920.174692 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.66; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.065769 meters # Minimum depth: 916.848195 meters looking forward 100.000000 meters along route # Maximum depth: 918.029465 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.848195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.822575; longitude = -117.565416; captureRadius = 10; duration = 200; initialDepth = 866.419330; finalDepth = 866.848195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.915512 # Actual altitude: 51.915512 # Commanded vehicle depth: 866.848195 # Seafloor depth: -918.029465 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.66; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.436691 meters # Minimum depth: 916.419330 meters looking forward 100.000000 meters along route # Maximum depth: 916.975307 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.419330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.823327; longitude = -117.564827; captureRadius = 10; duration = 212; initialDepth = 864.145248; finalDepth = 866.419330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1812699999999 # Actual altitude: 51.1812699999999 # Commanded vehicle depth: 866.41933 # Seafloor depth: -916.975307 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.73; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 110.424073 meters # Minimum depth: 914.145248 meters looking forward 100.000000 meters along route # Maximum depth: 915.814336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 864.145248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.824128; longitude = -117.564199; captureRadius = 10; duration = 220; initialDepth = 863.617775; finalDepth = 864.145248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.669088 # Actual altitude: 51.669088 # Commanded vehicle depth: 864.145248 # Seafloor depth: -915.814336 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.68; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 206.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.448441 meters # Minimum depth: 913.617775 meters looking forward 100.000000 meters along route # Maximum depth: 925.367740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 863.617775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.824959; longitude = -117.563548; captureRadius = 10; duration = 204; initialDepth = 856.786327; finalDepth = 863.617775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.669088 # Actual altitude: 51.669088 # Commanded vehicle depth: 863.617775 # Seafloor depth: -914.171759 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.68; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 206.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.435823 meters # Minimum depth: 906.786327 meters looking forward 100.000000 meters along route # Maximum depth: 911.089693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 856.786327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.825729; longitude = -117.562944; captureRadius = 10; duration = 212; initialDepth = 842.008723; finalDepth = 856.786327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.187288 # Actual altitude: 54.187288 # Commanded vehicle depth: 856.786327 # Seafloor depth: -910.973615 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.75; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.67; MB_Bottom_Detect_Filter_Max_Range = 216.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 108.039703 meters # Minimum depth: 892.008723 meters looking forward 100.000000 meters along route # Maximum depth: 906.850729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 842.008723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.826530; longitude = -117.562317; captureRadius = 10; duration = 216; initialDepth = 842.130553; finalDepth = 842.008723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.33496 # Actual altitude: 64.33496 # Commanded vehicle depth: 842.008723 # Seafloor depth: -906.343683 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 257.34; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.73; MB_Bottom_Detect_Filter_Max_Range = 257.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.831074 meters # Minimum depth: 892.130553 meters looking forward 100.000000 meters along route # Maximum depth: 900.697077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 842.130553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.827343; longitude = -117.561680; captureRadius = 10; duration = 209; initialDepth = 852.558885; finalDepth = 842.130553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.33496 # Actual altitude: 64.33496 # Commanded vehicle depth: 842.130553 # Seafloor depth: -892.130553 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 257.34; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.73; MB_Bottom_Detect_Filter_Max_Range = 257.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.434954 meters # Minimum depth: 902.558885 meters looking forward 100.000000 meters along route # Maximum depth: 906.835227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 852.558885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828132; longitude = -117.561062; captureRadius = 10; duration = 212; initialDepth = 851.432666; finalDepth = 852.558885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 852.558885 # Seafloor depth: -902.558885 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.434665 meters # Minimum depth: 901.432666 meters looking forward 100.000000 meters along route # Maximum depth: 905.275531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 851.432666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.828932; longitude = -117.560434; captureRadius = 10; duration = 212; initialDepth = 849.988568; finalDepth = 851.432666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.842865 # Actual altitude: 53.842865 # Commanded vehicle depth: 851.432666 # Seafloor depth: -905.275531 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 215.37; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.54; MB_Bottom_Detect_Filter_Max_Range = 215.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.434376 meters # Minimum depth: 899.988568 meters looking forward 100.000000 meters along route # Maximum depth: 901.705712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 849.988568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.829733; longitude = -117.559807; captureRadius = 10; duration = 212; initialDepth = 850.211723; finalDepth = 849.988568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.842865 # Actual altitude: 53.842865 # Commanded vehicle depth: 849.988568 # Seafloor depth: -901.705712 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 215.37; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.54; MB_Bottom_Detect_Filter_Max_Range = 215.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.434086 meters # Minimum depth: 900.211723 meters looking forward 100.000000 meters along route # Maximum depth: 900.426243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 850.211723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.830534; longitude = -117.559180; captureRadius = 10; duration = 212; initialDepth = 849.145045; finalDepth = 850.211723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.717144 # Actual altitude: 51.717144 # Commanded vehicle depth: 850.211723 # Seafloor depth: -900.320913 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.87; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.433797 meters # Minimum depth: 899.145045 meters looking forward 100.000000 meters along route # Maximum depth: 900.530027 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 849.145045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.831334; longitude = -117.558552; captureRadius = 10; duration = 212; initialDepth = 849.389735; finalDepth = 849.145045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.384982 # Actual altitude: 51.384982 # Commanded vehicle depth: 849.145045 # Seafloor depth: -900.530027 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.54; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.433507 meters # Minimum depth: 899.389735 meters looking forward 100.000000 meters along route # Maximum depth: 901.900269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 849.389735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832135; longitude = -117.557925; captureRadius = 10; duration = 212; initialDepth = 848.321962; finalDepth = 849.389735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.384982 # Actual altitude: 51.384982 # Commanded vehicle depth: 849.389735 # Seafloor depth: -899.389735 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.54; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.433218 meters # Minimum depth: 898.321962 meters looking forward 100.000000 meters along route # Maximum depth: 900.242981 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 848.321962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.832936; longitude = -117.557297; captureRadius = 10; duration = 212; initialDepth = 856.393452; finalDepth = 848.321962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 848.321962 # Seafloor depth: -898.321962 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.432928 meters # Minimum depth: 906.393452 meters looking forward 100.000000 meters along route # Maximum depth: 913.688716 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 856.393452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.833736; longitude = -117.556670; captureRadius = 10; duration = 212; initialDepth = 852.339258; finalDepth = 856.393452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.369829 # Actual altitude: 51.369829 # Commanded vehicle depth: 856.393452 # Seafloor depth: -907.763281 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.48; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.432639 meters # Minimum depth: 902.339258 meters looking forward 100.000000 meters along route # Maximum depth: 908.247609 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 852.339258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.834537; longitude = -117.556042; captureRadius = 10; duration = 212; initialDepth = 852.304640; finalDepth = 852.339258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8385420000001 # Actual altitude: 52.8385420000001 # Commanded vehicle depth: 852.339258 # Seafloor depth: -905.177800 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.35; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.14; MB_Bottom_Detect_Filter_Max_Range = 211.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.432349 meters # Minimum depth: 902.304640 meters looking forward 100.000000 meters along route # Maximum depth: 903.030214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 852.304640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.835338; longitude = -117.555415; captureRadius = 10; duration = 212; initialDepth = 847.049876; finalDepth = 852.304640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8385420000001 # Actual altitude: 52.8385420000001 # Commanded vehicle depth: 852.30464 # Seafloor depth: -902.903150 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.35; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.14; MB_Bottom_Detect_Filter_Max_Range = 211.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.432061 meters # Minimum depth: 897.049876 meters looking forward 100.000000 meters along route # Maximum depth: 902.101253 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 847.049876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.836139; longitude = -117.554787; captureRadius = 10; duration = 212; initialDepth = 844.088546; finalDepth = 847.049876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.039079 # Actual altitude: 55.039079 # Commanded vehicle depth: 847.049876 # Seafloor depth: -902.088955 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.16; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.02; MB_Bottom_Detect_Filter_Max_Range = 220.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.431770 meters # Minimum depth: 894.088546 meters looking forward 100.000000 meters along route # Maximum depth: 896.437548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 844.088546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.836939; longitude = -117.554160; captureRadius = 10; duration = 212; initialDepth = 842.294251; finalDepth = 844.088546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.039079 # Actual altitude: 55.039079 # Commanded vehicle depth: 844.088546 # Seafloor depth: -896.437548 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.16; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.02; MB_Bottom_Detect_Filter_Max_Range = 220.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 112.004140 meters # Minimum depth: 892.294251 meters looking forward 100.000000 meters along route # Maximum depth: 892.928495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 842.294251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.837740; longitude = -117.553533; captureRadius = 10; duration = 224; initialDepth = 839.821870; finalDepth = 842.294251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.349002 # Actual altitude: 52.349002 # Commanded vehicle depth: 842.294251 # Seafloor depth: -892.928495 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.40; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.94; MB_Bottom_Detect_Filter_Max_Range = 209.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.858534 meters # Minimum depth: 889.821870 meters looking forward 100.000000 meters along route # Maximum depth: 892.405772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 839.821870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.838583; longitude = -117.552872; captureRadius = 10; duration = 201; initialDepth = 838.197453; finalDepth = 839.821870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.583902 # Actual altitude: 52.583902 # Commanded vehicle depth: 839.82187 # Seafloor depth: -892.405772 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.34; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.03; MB_Bottom_Detect_Filter_Max_Range = 210.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 108.159783 meters # Minimum depth: 888.197453 meters looking forward 100.000000 meters along route # Maximum depth: 889.746509 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 966.236441 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 838.197453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.839341; longitude = -117.552278; captureRadius = 10; duration = 216; initialDepth = 837.958267; finalDepth = 838.197453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.583902 # Actual altitude: 52.583902 # Commanded vehicle depth: 838.197453 # Seafloor depth: -889.507794 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 210.34; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.03; MB_Bottom_Detect_Filter_Max_Range = 210.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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 # Waypoint type: 3 # Commanded altitude: 51.310341 # Sonar parameter altitude: 51.310341 # Commanded vehicle depth: 837.958267 # Seafloor depth: -887.958267 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 400.000; MB_Power = 220; MB_Range = 205.24; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 108.159783 meters # Minimum depth: 887.958267 meters looking forward 100.000000 meters along route # Maximum depth: 889.746509 meters looking forward 100.000000 meters along route # Vehicle depth: 837.958267 meters behavior waypoint { latitude = 32.840155; longitude = -117.551640; captureRadius = 10; duration = 418; depth = 837.958267; speed = 1.500000; } # # Zero speed hang to allow final nav updates over acoustic modem # - must get start survey command over acoustic modem or mission aborts behavior StartSurvey { duration = 300; } # # Acoustic update - sent status ping at beginning of StartSurvey behavior # behavior acousticUpdate { duration = 2; dummy = 1; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 837.958267 meters set by local depth and desired altitude behavior descend { duration = 2555; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; maxDepth = 827.958267; minAltitude = 50.000000; } # # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 108.159783 meters # Minimum depth: 887.958267 meters looking forward 100.000000 meters along route # Maximum depth: 889.746509 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 32.840155; longitude = -117.551640; captureRadius = 10; duration = 1000; depth = 50.000000; 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 = 316.0; 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 = 316.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; 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 = 400.000; 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 = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################