# 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_SanDiegoTrough_1v3.rte # Mission File: 2010_SanDiegoTrough_1v3.cfg # Distance: 85859.781554 (m) # Estimated Time: 59079 (s) 16.411 (hr) # Abort Time: 61852 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1147 (s) # Way Points: 32 # Route Points: 805 # 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: 1045.356787 (m) # Abort Vehicle Depth: 1070.356787 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 1003.214783 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 -117.775884 32.896758 -1063.214783 0.000000 3 # 1 -117.782827 32.917644 -1012.515793 2404.855586 4 # 2 -117.762377 32.905020 -1050.380341 4774.667573 3 # 3 -117.743363 32.915540 -1013.622665 6901.154719 4 # 4 -117.744652 32.916696 -1001.834579 7077.090745 3 # 5 -117.793084 32.888745 -1059.359283 12565.214417 4 # 6 -117.793989 32.889862 -1053.582336 12715.219861 3 # 7 -117.745558 32.917813 -988.335342 18203.220542 4 # 8 -117.746463 32.918930 -996.912979 18353.209670 3 # 9 -117.794895 32.890978 -1053.247559 23841.304357 4 # 10 -117.795801 32.892095 -1052.672363 23991.361490 3 # 11 -117.747369 32.920047 -985.534470 29479.410374 4 # 12 -117.748274 32.921163 -986.925461 29629.306860 3 # 13 -117.796707 32.893211 -1052.373199 35117.387166 4 # 14 -117.797613 32.894328 -1051.222076 35267.443182 3 # 15 -117.749180 32.922280 -980.871979 40755.477684 4 # 16 -117.750085 32.923397 -987.738297 40905.464572 3 # 17 -117.798519 32.895444 -1051.136719 46393.593074 4 # 18 -117.799424 32.896561 -1051.001892 46543.595172 3 # 19 -117.750991 32.924514 -975.774323 52031.600688 4 # 20 -117.751897 32.925631 -969.338211 52181.639227 3 # 21 -117.800330 32.897677 -1048.634064 57669.661566 4 # 22 -117.801236 32.898794 -1048.820404 57819.715346 3 # 23 -117.752802 32.926748 -965.584366 63307.769055 4 # 24 -117.753708 32.927864 -967.340759 63457.714981 3 # 25 -117.802142 32.899910 -1047.028137 68945.722926 4 # 26 -117.803048 32.901026 -1042.789185 69095.684104 3 # 27 -117.754614 32.928981 -979.099442 74583.708873 4 # 28 -117.755519 32.930098 -974.348495 74733.692404 3 # 29 -117.803954 32.902143 -1042.696259 80221.748537 4 # 30 -117.804860 32.903259 -1037.495728 80371.708597 3 # 31 -117.756425 32.931215 -971.665695 85859.781554 4 # # A total of 805 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 = 1045.356787; abortDepth = 1070.356787; 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 = 1500; 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 31 # Segment length 129.920809 meters # Minimum depth: 956.261206 meters looking forward 100.000000 meters along route # Maximum depth: 971.665695 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 906.261206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.931215; longitude = -117.756425; captureRadius = 10; duration = 259; # abortOnTimeout = True; initialDepth = 905.972639; finalDepth = 906.261206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.404489 # Actual altitude: 65.404489 # Commanded vehicle depth: 906.261206 # Seafloor depth: -971.665695 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 261.62; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.16; MB_Bottom_Detect_Filter_Max_Range = 261.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 104.943029 meters # Minimum depth: 955.972639 meters looking forward 100.000000 meters along route # Maximum depth: 975.262809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 905.972639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.930553; longitude = -117.757572; captureRadius = 10; duration = 209; initialDepth = 924.263757; finalDepth = 905.972639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.404489 # Actual altitude: 65.404489 # Commanded vehicle depth: 905.972639 # Seafloor depth: -955.972639 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 261.62; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.16; MB_Bottom_Detect_Filter_Max_Range = 261.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 105.901498 meters # Minimum depth: 974.263757 meters looking forward 100.000000 meters along route # Maximum depth: 982.042711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.263757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.930018; longitude = -117.758498; captureRadius = 10; duration = 211; initialDepth = 932.097481; finalDepth = 924.263757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6043109999999 # Actual altitude: 52.6043109999999 # Commanded vehicle depth: 924.263757 # Seafloor depth: -976.868068 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.42; 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 = 210.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.985888 meters # Minimum depth: 982.097481 meters looking forward 100.000000 meters along route # Maximum depth: 989.607930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.097481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.929479; longitude = -117.759433; captureRadius = 10; duration = 207; initialDepth = 939.811954; finalDepth = 932.097481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6043109999999 # Actual altitude: 52.6043109999999 # Commanded vehicle depth: 932.097481 # Seafloor depth: -982.097481 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.42; 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 = 210.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 108.017101 meters # Minimum depth: 989.811954 meters looking forward 100.000000 meters along route # Maximum depth: 994.732674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.811954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.928949; longitude = -117.760351; captureRadius = 10; duration = 216; initialDepth = 941.735291; finalDepth = 939.811954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.872287 # Actual altitude: 50.872287 # Commanded vehicle depth: 939.811954 # Seafloor depth: -990.684241 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.49; 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 = 203.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 101.872058 meters # Minimum depth: 991.735291 meters looking forward 100.000000 meters along route # Maximum depth: 997.249781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.735291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.928399; longitude = -117.761304; captureRadius = 10; duration = 203; initialDepth = 948.159793; finalDepth = 941.735291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.872287 # Actual altitude: 50.872287 # Commanded vehicle depth: 941.735291 # Seafloor depth: -991.735291 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.49; 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 = 203.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 104.945244 meters # Minimum depth: 998.159793 meters looking forward 100.000000 meters along route # Maximum depth: 1001.524776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.159793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.927880; longitude = -117.762203; captureRadius = 10; duration = 209; initialDepth = 953.461135; finalDepth = 948.159793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 948.159793 # Seafloor depth: -998.159793 # 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 104.945687 meters # Minimum depth: 1003.461135 meters looking forward 100.000000 meters along route # Maximum depth: 1008.110622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.461135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.927345; longitude = -117.763129; captureRadius = 10; duration = 209; initialDepth = 957.340074; finalDepth = 953.461135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 953.461135 # Seafloor depth: -1003.461135 # 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 104.946130 meters # Minimum depth: 1007.340074 meters looking forward 100.000000 meters along route # Maximum depth: 1020.284653 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.340074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.926811; longitude = -117.764056; captureRadius = 10; duration = 209; initialDepth = 971.260071; finalDepth = 957.340074; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 957.340074 # Seafloor depth: -1007.340074 # 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 104.946573 meters # Minimum depth: 1021.260071 meters looking forward 100.000000 meters along route # Maximum depth: 1030.708587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.260071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.926276; longitude = -117.764982; captureRadius = 10; duration = 209; initialDepth = 980.344373; finalDepth = 971.260071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.319524 # Actual altitude: 50.319524 # Commanded vehicle depth: 971.260071 # Seafloor depth: -1021.579595 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.28; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 104.947016 meters # Minimum depth: 1030.344373 meters looking forward 100.000000 meters along route # Maximum depth: 1035.562888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.344373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.925741; longitude = -117.765908; captureRadius = 10; duration = 209; initialDepth = 986.079811; finalDepth = 980.344373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7346790000001 # Actual altitude: 50.7346790000001 # Commanded vehicle depth: 980.344373 # Seafloor depth: -1031.079052 # 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 31 # Segment length 104.947460 meters # Minimum depth: 1036.079811 meters looking forward 100.000000 meters along route # Maximum depth: 1047.597043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.079811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.925207; longitude = -117.766834; captureRadius = 10; duration = 209; initialDepth = 993.616451; finalDepth = 986.079811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7346790000001 # Actual altitude: 50.7346790000001 # Commanded vehicle depth: 986.079811 # Seafloor depth: -1036.079811 # 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 31 # Segment length 104.947902 meters # Minimum depth: 1043.616451 meters looking forward 100.000000 meters along route # Maximum depth: 1052.107804 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.616451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.924672; longitude = -117.767761; captureRadius = 10; duration = 209; initialDepth = 1001.261144; finalDepth = 993.616451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 993.616451 # Seafloor depth: -1043.616451 # 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 104.948346 meters # Minimum depth: 1051.261144 meters looking forward 100.000000 meters along route # Maximum depth: 1057.772692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.261144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.924138; longitude = -117.768687; captureRadius = 10; duration = 209; initialDepth = 1006.254049; finalDepth = 1001.261144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1001.261144 # Seafloor depth: -1051.261144 # 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 104.948788 meters # Minimum depth: 1056.254049 meters looking forward 100.000000 meters along route # Maximum depth: 1061.001474 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.254049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923603; longitude = -117.769613; captureRadius = 10; duration = 209; initialDepth = 1000.737606; finalDepth = 1006.254049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1006.254049 # Seafloor depth: -1056.254049 # 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 104.949232 meters # Minimum depth: 1050.737606 meters looking forward 100.000000 meters along route # Maximum depth: 1057.609849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.737606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923068; longitude = -117.770540; captureRadius = 10; duration = 209; initialDepth = 996.526105; finalDepth = 1000.737606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.461442 # Actual altitude: 56.461442 # Commanded vehicle depth: 1000.737606 # Seafloor depth: -1057.199048 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 225.85; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.58; MB_Bottom_Detect_Filter_Max_Range = 225.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 104.949675 meters # Minimum depth: 1046.526105 meters looking forward 100.000000 meters along route # Maximum depth: 1050.717916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.526105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922534; longitude = -117.771466; captureRadius = 10; duration = 209; initialDepth = 991.227166; finalDepth = 996.526105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.461442 # Actual altitude: 56.461442 # Commanded vehicle depth: 996.526105 # Seafloor depth: -1050.717916 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 225.85; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.58; MB_Bottom_Detect_Filter_Max_Range = 225.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.625426 meters # Minimum depth: 1041.227166 meters looking forward 100.000000 meters along route # Maximum depth: 1044.849386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.227166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921999; longitude = -117.772392; captureRadius = 10; duration = 213; initialDepth = 982.972438; finalDepth = 991.227166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1918110000001 # Actual altitude: 54.1918110000001 # Commanded vehicle depth: 991.227166 # Seafloor depth: -1044.849386 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.77; 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 = 216.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.275254 meters # Minimum depth: 1032.972438 meters looking forward 100.000000 meters along route # Maximum depth: 1041.168984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.972438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921456; longitude = -117.773333; captureRadius = 10; duration = 206; initialDepth = 972.131764; finalDepth = 982.972438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1965459999999 # Actual altitude: 58.1965459999999 # Commanded vehicle depth: 982.972438 # Seafloor depth: -1041.168984 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 232.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.28; MB_Bottom_Detect_Filter_Max_Range = 232.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 108.741169 meters # Minimum depth: 1022.131764 meters looking forward 100.000000 meters along route # Maximum depth: 1032.328722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.131764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920930; longitude = -117.774245; captureRadius = 10; duration = 217; initialDepth = 968.782813; finalDepth = 972.131764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.196958 # Actual altitude: 60.196958 # Commanded vehicle depth: 972.131764 # Seafloor depth: -1032.328722 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 240.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.08; MB_Bottom_Detect_Filter_Max_Range = 240.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 101.161283 meters # Minimum depth: 1018.782813 meters looking forward 100.000000 meters along route # Maximum depth: 1021.691756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.782813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920376; longitude = -117.775204; captureRadius = 10; duration = 202; initialDepth = 965.860081; finalDepth = 968.782813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.196958 # Actual altitude: 60.196958 # Commanded vehicle depth: 968.782813 # Seafloor depth: -1021.691756 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 240.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.08; MB_Bottom_Detect_Filter_Max_Range = 240.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 104.951891 meters # Minimum depth: 1015.860081 meters looking forward 100.000000 meters along route # Maximum depth: 1018.859244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.860081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919861; longitude = -117.776097; captureRadius = 10; duration = 209; initialDepth = 963.030673; finalDepth = 965.860081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.999163 # Actual altitude: 52.999163 # Commanded vehicle depth: 965.860081 # Seafloor depth: -1018.859244 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.20; MB_Bottom_Detect_Filter_Max_Range = 212.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 104.952335 meters # Minimum depth: 1013.030673 meters looking forward 100.000000 meters along route # Maximum depth: 1016.693403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.030673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919326; longitude = -117.777023; captureRadius = 10; duration = 209; initialDepth = 962.939838; finalDepth = 963.030673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.267973 # Actual altitude: 53.267973 # Commanded vehicle depth: 963.030673 # Seafloor depth: -1016.298646 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.07; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.31; MB_Bottom_Detect_Filter_Max_Range = 213.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 104.952778 meters # Minimum depth: 1012.939838 meters looking forward 100.000000 meters along route # Maximum depth: 1020.506385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.939838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918791; longitude = -117.777950; captureRadius = 10; duration = 209; initialDepth = 960.054491; finalDepth = 962.939838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.267973 # Actual altitude: 53.267973 # Commanded vehicle depth: 962.939838 # Seafloor depth: -1012.939838 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.07; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.31; MB_Bottom_Detect_Filter_Max_Range = 213.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 104.953220 meters # Minimum depth: 1010.054491 meters looking forward 100.000000 meters along route # Maximum depth: 1011.677083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.054491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918257; longitude = -117.778876; captureRadius = 10; duration = 209; initialDepth = 960.138173; finalDepth = 960.054491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6225920000001 # Actual altitude: 51.6225920000001 # Commanded vehicle depth: 960.054491 # Seafloor depth: -1011.677083 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.49; 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 = 206.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 104.953665 meters # Minimum depth: 1010.138173 meters looking forward 100.000000 meters along route # Maximum depth: 1012.332002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.138173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917722; longitude = -117.779802; captureRadius = 10; duration = 209; initialDepth = 960.956773; finalDepth = 960.138173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6225920000001 # Actual altitude: 51.6225920000001 # Commanded vehicle depth: 960.138173 # Seafloor depth: -1010.138173 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.49; 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 = 206.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 104.954107 meters # Minimum depth: 1010.956773 meters looking forward 100.000000 meters along route # Maximum depth: 1012.140540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.956773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917187; longitude = -117.780729; captureRadius = 10; duration = 209; initialDepth = 960.509915; finalDepth = 960.956773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.18103 # Actual altitude: 50.18103 # Commanded vehicle depth: 960.956773 # Seafloor depth: -1011.137803 # 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 31 # Segment length 104.954551 meters # Minimum depth: 1010.509915 meters looking forward 100.000000 meters along route # Maximum depth: 1011.288589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.509915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916653; longitude = -117.781655; captureRadius = 10; duration = 209; initialDepth = 959.043594; finalDepth = 960.509915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.778674 # Actual altitude: 50.778674 # Commanded vehicle depth: 960.509915 # Seafloor depth: -1011.288589 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.11; 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 = 203.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 104.954994 meters # Minimum depth: 1009.043594 meters looking forward 100.000000 meters along route # Maximum depth: 1011.090555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.043594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916118; longitude = -117.782581; captureRadius = 10; duration = 209; initialDepth = 959.826493; finalDepth = 959.043594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.886067 # Actual altitude: 51.886067 # Commanded vehicle depth: 959.043594 # Seafloor depth: -1010.929661 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.54; 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 = 207.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 104.955438 meters # Minimum depth: 1009.826493 meters looking forward 100.000000 meters along route # Maximum depth: 1010.246546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.826493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915583; longitude = -117.783507; captureRadius = 10; duration = 209; initialDepth = 958.002708; finalDepth = 959.826493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.886067 # Actual altitude: 51.886067 # Commanded vehicle depth: 959.826493 # Seafloor depth: -1010.183742 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.54; 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 = 207.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 105.233599 meters # Minimum depth: 1008.002708 meters looking forward 100.000000 meters along route # Maximum depth: 1010.084407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.002708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915049; longitude = -117.784434; captureRadius = 10; duration = 210; initialDepth = 957.437651; finalDepth = 958.002708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0816990000001 # Actual altitude: 52.0816990000001 # Commanded vehicle depth: 958.002708 # Seafloor depth: -1010.084407 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.33; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 104.678607 meters # Minimum depth: 1007.437651 meters looking forward 100.000000 meters along route # Maximum depth: 1008.561869 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.437651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914513; longitude = -117.785362; captureRadius = 10; duration = 209; initialDepth = 957.391395; finalDepth = 957.437651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0816990000001 # Actual altitude: 52.0816990000001 # Commanded vehicle depth: 957.437651 # Seafloor depth: -1008.561869 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.33; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 107.349446 meters # Minimum depth: 1007.391395 meters looking forward 100.000000 meters along route # Maximum depth: 1009.929204 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.391395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913980; longitude = -117.786286; captureRadius = 10; duration = 214; initialDepth = 960.089375; finalDepth = 957.391395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.124218 # Actual altitude: 51.124218 # Commanded vehicle depth: 957.391395 # Seafloor depth: -1007.391395 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.50; 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 = 204.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 102.564533 meters # Minimum depth: 1010.089375 meters looking forward 100.000000 meters along route # Maximum depth: 1013.660713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.089375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913433; longitude = -117.787234; captureRadius = 10; duration = 205; initialDepth = 964.107863; finalDepth = 960.089375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 960.089375 # Seafloor depth: -1010.089375 # 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 109.465330 meters # Minimum depth: 1014.107863 meters looking forward 100.000000 meters along route # Maximum depth: 1016.582092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.107863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912910; longitude = -117.788139; captureRadius = 10; duration = 218; initialDepth = 965.254642; finalDepth = 964.107863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 964.107863 # Seafloor depth: -1014.107863 # 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 100.450422 meters # Minimum depth: 1015.254642 meters looking forward 100.000000 meters along route # Maximum depth: 1019.812094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.254642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912353; longitude = -117.789105; captureRadius = 10; duration = 200; initialDepth = 970.224835; finalDepth = 965.254642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 965.254642 # Seafloor depth: -1015.254642 # 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 104.958542 meters # Minimum depth: 1020.224835 meters looking forward 100.000000 meters along route # Maximum depth: 1027.703090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.224835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911841; longitude = -117.789991; captureRadius = 10; duration = 209; initialDepth = 974.985506; finalDepth = 970.224835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 970.224835 # Seafloor depth: -1020.224835 # 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 104.958985 meters # Minimum depth: 1024.985506 meters looking forward 100.000000 meters along route # Maximum depth: 1034.477003 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.985506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911306; longitude = -117.790917; captureRadius = 10; duration = 209; initialDepth = 966.273080; finalDepth = 974.985506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0134700000001 # Actual altitude: 51.0134700000001 # Commanded vehicle depth: 974.985506 # Seafloor depth: -1025.998976 # behavior reson { duration = 6; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 104.959429 meters # Minimum depth: 1016.273080 meters looking forward 100.000000 meters along route # Maximum depth: 1032.526780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.273080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910772; longitude = -117.791844; captureRadius = 10; duration = 209; initialDepth = 966.486934; finalDepth = 966.273080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.3208919999998 # Actual altitude: 64.3208919999998 # Commanded vehicle depth: 966.27308 # Seafloor depth: -1030.593972 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 257.28; 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 = 257.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 104.959872 meters # Minimum depth: 1016.486934 meters looking forward 100.000000 meters along route # Maximum depth: 1018.497849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.486934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910237; longitude = -117.792770; captureRadius = 10; duration = 209; initialDepth = 968.438627; finalDepth = 966.486934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.3208919999998 # Actual altitude: 64.3208919999998 # Commanded vehicle depth: 966.486934 # Seafloor depth: -1016.486934 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 257.28; 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 = 257.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 104.960315 meters # Minimum depth: 1018.438627 meters looking forward 100.000000 meters along route # Maximum depth: 1019.358388 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.438627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909703; longitude = -117.793696; captureRadius = 10; duration = 209; initialDepth = 970.124797; finalDepth = 968.438627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.219333 # Actual altitude: 50.219333 # Commanded vehicle depth: 968.438627 # Seafloor depth: -1018.657960 # 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 31 # Segment length 104.960759 meters # Minimum depth: 1020.124797 meters looking forward 100.000000 meters along route # Maximum depth: 1024.033070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.124797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909168; longitude = -117.794623; captureRadius = 10; duration = 209; initialDepth = 972.745211; finalDepth = 970.124797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.219333 # Actual altitude: 50.219333 # Commanded vehicle depth: 970.124797 # Seafloor depth: -1020.124797 # 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 31 # Segment length 104.961203 meters # Minimum depth: 1022.745211 meters looking forward 100.000000 meters along route # Maximum depth: 1024.405374 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.745211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908633; longitude = -117.795549; captureRadius = 10; duration = 209; initialDepth = 974.368663; finalDepth = 972.745211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.259635 # Actual altitude: 51.259635 # Commanded vehicle depth: 972.745211 # Seafloor depth: -1024.004846 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.04; 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 = 205.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 104.961646 meters # Minimum depth: 1024.368663 meters looking forward 100.000000 meters along route # Maximum depth: 1026.023175 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.368663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908099; longitude = -117.796475; captureRadius = 10; duration = 209; initialDepth = 973.542105; finalDepth = 974.368663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.259635 # Actual altitude: 51.259635 # Commanded vehicle depth: 974.368663 # Seafloor depth: -1024.808279 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.04; 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 = 205.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 104.962090 meters # Minimum depth: 1023.542105 meters looking forward 100.000000 meters along route # Maximum depth: 1026.642265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.542105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907564; longitude = -117.797401; captureRadius = 10; duration = 209; initialDepth = 957.394575; finalDepth = 973.542105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4954270000001 # Actual altitude: 52.4954270000001 # Commanded vehicle depth: 973.542105 # Seafloor depth: -1026.037532 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.98; 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 = 209.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 105.957575 meters # Minimum depth: 1007.394575 meters looking forward 100.000000 meters along route # Maximum depth: 1021.610274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.394575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907029; longitude = -117.798328; captureRadius = 10; duration = 211; initialDepth = 957.376793; finalDepth = 957.394575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.215699 # Actual altitude: 64.215699 # Commanded vehicle depth: 957.394575 # Seafloor depth: -1021.610274 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 256.86; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.69; MB_Bottom_Detect_Filter_Max_Range = 256.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.967936 meters # Minimum depth: 1007.376793 meters looking forward 100.000000 meters along route # Maximum depth: 1011.253217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.376793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906490; longitude = -117.799263; captureRadius = 10; duration = 207; initialDepth = 956.068529; finalDepth = 957.376793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.215699 # Actual altitude: 64.215699 # Commanded vehicle depth: 957.376793 # Seafloor depth: -1007.376793 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 256.86; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.69; MB_Bottom_Detect_Filter_Max_Range = 256.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 108.073563 meters # Minimum depth: 1006.068529 meters looking forward 100.000000 meters along route # Maximum depth: 1024.772250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.068529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905960; longitude = -117.800180; captureRadius = 10; duration = 216; initialDepth = 972.654739; finalDepth = 956.068529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.156416 # Actual altitude: 58.156416 # Commanded vehicle depth: 956.068529 # Seafloor depth: -1014.224945 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 232.63; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.26; MB_Bottom_Detect_Filter_Max_Range = 232.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 101.853722 meters # Minimum depth: 1022.654739 meters looking forward 100.000000 meters along route # Maximum depth: 1029.202557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.654739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905410; longitude = -117.801134; captureRadius = 10; duration = 203; initialDepth = 976.544030; finalDepth = 972.654739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.156416 # Actual altitude: 58.156416 # Commanded vehicle depth: 972.654739 # Seafloor depth: -1022.654739 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 232.63; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.26; MB_Bottom_Detect_Filter_Max_Range = 232.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 104.964308 meters # Minimum depth: 1026.544030 meters looking forward 100.000000 meters along route # Maximum depth: 1028.423036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.544030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904891; longitude = -117.802033; captureRadius = 10; duration = 209; initialDepth = 979.068385; finalDepth = 976.544030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 976.54403 # Seafloor depth: -1026.544030 # 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 104.964752 meters # Minimum depth: 1029.068385 meters looking forward 100.000000 meters along route # Maximum depth: 1030.710548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.068385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904356; longitude = -117.802959; captureRadius = 10; duration = 209; initialDepth = 980.156875; finalDepth = 979.068385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 979.068385 # Seafloor depth: -1029.068385 # 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 110.457776 meters # Minimum depth: 1030.156875 meters looking forward 100.000000 meters along route # Maximum depth: 1036.171425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.156875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903822; longitude = -117.803885; captureRadius = 10; duration = 220; initialDepth = 987.495728; finalDepth = 980.156875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 980.156875 # Seafloor depth: -1030.156875 # 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 30 # Segment length 149.960060 meters # Minimum depth: 1037.495728 meters looking forward 100.000000 meters along route # Maximum depth: 1044.119293 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.495728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903259; longitude = -117.804860; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 982.698173; finalDepth = 987.495728; 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: 50 # Actual altitude: 50 # Commanded vehicle depth: 987.495728 # Seafloor depth: -1037.495728 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; 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; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 119.638148 meters # Minimum depth: 1032.698173 meters looking forward 100.000000 meters along route # Maximum depth: 1042.696259 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.698173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902143; longitude = -117.803954; captureRadius = 10; duration = 239; # abortOnTimeout = True; initialDepth = 980.465573; finalDepth = 982.698173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.9980860000001 # Actual altitude: 59.9980860000001 # Commanded vehicle depth: 982.698173 # Seafloor depth: -1042.696259 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 239.99; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.00; MB_Bottom_Detect_Filter_Max_Range = 239.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.058995 meters # Minimum depth: 1030.465573 meters looking forward 100.000000 meters along route # Maximum depth: 1032.999158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.465573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902752; longitude = -117.802898; captureRadius = 10; duration = 218; initialDepth = 979.315105; finalDepth = 980.465573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.9980860000001 # Actual altitude: 59.9980860000001 # Commanded vehicle depth: 980.465573 # Seafloor depth: -1032.999158 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 239.99; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.00; MB_Bottom_Detect_Filter_Max_Range = 239.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.876851 meters # Minimum depth: 1029.315105 meters looking forward 100.000000 meters along route # Maximum depth: 1030.404345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.315105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903308; longitude = -117.801936; captureRadius = 10; duration = 201; initialDepth = 980.212101; finalDepth = 979.315105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5335850000001 # Actual altitude: 52.5335850000001 # Commanded vehicle depth: 979.315105 # Seafloor depth: -1030.404345 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.13; 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 = 210.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.967258 meters # Minimum depth: 1030.212101 meters looking forward 100.000000 meters along route # Maximum depth: 1034.717404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.212101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903822; longitude = -117.801046; captureRadius = 10; duration = 209; initialDepth = 976.410811; finalDepth = 980.212101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.08924 # Actual altitude: 51.08924 # Commanded vehicle depth: 980.212101 # Seafloor depth: -1030.554192 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.36; 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 = 204.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.966814 meters # Minimum depth: 1026.410811 meters looking forward 100.000000 meters along route # Maximum depth: 1030.059110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.410811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904356; longitude = -117.800119; captureRadius = 10; duration = 209; initialDepth = 974.026580; finalDepth = 976.410811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.483487 # Actual altitude: 53.483487 # Commanded vehicle depth: 976.410811 # Seafloor depth: -1029.894298 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.93; 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 = 213.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.966370 meters # Minimum depth: 1024.026580 meters looking forward 100.000000 meters along route # Maximum depth: 1029.389916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.026580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904891; longitude = -117.799193; captureRadius = 10; duration = 209; initialDepth = 969.281671; finalDepth = 974.026580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3633360000001 # Actual altitude: 55.3633360000001 # Commanded vehicle depth: 974.02658 # Seafloor depth: -1029.389916 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.45; 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 = 221.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.965927 meters # Minimum depth: 1019.281671 meters looking forward 100.000000 meters along route # Maximum depth: 1022.570476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.281671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905425; longitude = -117.798267; captureRadius = 10; duration = 209; initialDepth = 971.922697; finalDepth = 969.281671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3633360000001 # Actual altitude: 55.3633360000001 # Commanded vehicle depth: 969.281671 # Seafloor depth: -1022.570476 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.45; 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 = 221.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.965483 meters # Minimum depth: 1021.922697 meters looking forward 100.000000 meters along route # Maximum depth: 1023.884764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.922697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905960; longitude = -117.797340; captureRadius = 10; duration = 209; initialDepth = 968.052019; finalDepth = 971.922697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.288805 # Actual altitude: 53.288805 # Commanded vehicle depth: 971.922697 # Seafloor depth: -1021.922697 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.16; 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 = 213.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.965040 meters # Minimum depth: 1018.052019 meters looking forward 100.000000 meters along route # Maximum depth: 1022.782081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.052019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906495; longitude = -117.796414; captureRadius = 10; duration = 209; initialDepth = 968.057907; finalDepth = 968.052019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.730062 # Actual altitude: 54.730062 # Commanded vehicle depth: 968.052019 # Seafloor depth: -1022.782081 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.92; 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 = 218.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.964596 meters # Minimum depth: 1018.057907 meters looking forward 100.000000 meters along route # Maximum depth: 1020.460260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.057907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907029; longitude = -117.795488; captureRadius = 10; duration = 209; initialDepth = 969.797229; finalDepth = 968.057907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.730062 # Actual altitude: 54.730062 # Commanded vehicle depth: 968.057907 # Seafloor depth: -1018.057907 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.92; 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 = 218.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.964152 meters # Minimum depth: 1019.797229 meters looking forward 100.000000 meters along route # Maximum depth: 1020.472285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.797229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907564; longitude = -117.794562; captureRadius = 10; duration = 209; initialDepth = 968.646379; finalDepth = 969.797229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.504185 # Actual altitude: 50.504185 # Commanded vehicle depth: 969.797229 # Seafloor depth: -1020.301414 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.02; 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 = 202.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.963709 meters # Minimum depth: 1018.646379 meters looking forward 100.000000 meters along route # Maximum depth: 1020.110868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.646379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908099; longitude = -117.793635; captureRadius = 10; duration = 209; initialDepth = 968.476158; finalDepth = 968.646379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.464489 # Actual altitude: 51.464489 # Commanded vehicle depth: 968.646379 # Seafloor depth: -1020.110868 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.86; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 105.499897 meters # Minimum depth: 1018.476158 meters looking forward 100.000000 meters along route # Maximum depth: 1019.889329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.476158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908633; longitude = -117.792709; captureRadius = 10; duration = 210; initialDepth = 969.082954; finalDepth = 968.476158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.464489 # Actual altitude: 51.464489 # Commanded vehicle depth: 968.476158 # Seafloor depth: -1018.476158 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.86; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.426190 meters # Minimum depth: 1019.082954 meters looking forward 100.000000 meters along route # Maximum depth: 1022.370994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.082954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909171; longitude = -117.791778; captureRadius = 10; duration = 208; initialDepth = 972.770844; finalDepth = 969.082954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 969.082954 # Seafloor depth: -1019.082954 # 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 107.606483 meters # Minimum depth: 1022.770844 meters looking forward 100.000000 meters along route # Maximum depth: 1026.430573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.770844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909703; longitude = -117.790856; captureRadius = 10; duration = 215; initialDepth = 967.591177; finalDepth = 972.770844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.186167 # Actual altitude: 50.186167 # Commanded vehicle depth: 972.770844 # Seafloor depth: -1022.957011 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.74; 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 = 200.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 102.317831 meters # Minimum depth: 1017.591177 meters looking forward 100.000000 meters along route # Maximum depth: 1024.035824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.591177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910251; longitude = -117.789907; captureRadius = 10; duration = 204; initialDepth = 966.834433; finalDepth = 967.591177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.648117 # Actual altitude: 55.648117 # Commanded vehicle depth: 967.591177 # Seafloor depth: -1023.239294 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.59; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.26; MB_Bottom_Detect_Filter_Max_Range = 222.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 109.713033 meters # Minimum depth: 1016.834433 meters looking forward 100.000000 meters along route # Maximum depth: 1019.219770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.834433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910772; longitude = -117.789004; captureRadius = 10; duration = 219; initialDepth = 963.752089; finalDepth = 966.834433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.648117 # Actual altitude: 55.648117 # Commanded vehicle depth: 966.834433 # Seafloor depth: -1018.447962 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.59; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.26; MB_Bottom_Detect_Filter_Max_Range = 222.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.209506 meters # Minimum depth: 1013.752089 meters looking forward 100.000000 meters along route # Maximum depth: 1016.840084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.752089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911331; longitude = -117.788035; captureRadius = 10; duration = 200; initialDepth = 961.387173; finalDepth = 963.752089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0879950000001 # Actual altitude: 53.0879950000001 # Commanded vehicle depth: 963.752089 # Seafloor depth: -1016.840084 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.35; 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 = 212.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.960605 meters # Minimum depth: 1011.387173 meters looking forward 100.000000 meters along route # Maximum depth: 1013.308272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.387173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911841; longitude = -117.787151; captureRadius = 10; duration = 209; initialDepth = 957.251662; finalDepth = 961.387173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0879950000001 # Actual altitude: 53.0879950000001 # Commanded vehicle depth: 961.387173 # Seafloor depth: -1013.308272 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.35; 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 = 212.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.960161 meters # Minimum depth: 1007.251662 meters looking forward 100.000000 meters along route # Maximum depth: 1011.086757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.251662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912376; longitude = -117.786225; captureRadius = 10; duration = 209; initialDepth = 957.233663; finalDepth = 957.251662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.832999 # Actual altitude: 53.832999 # Commanded vehicle depth: 957.251662 # Seafloor depth: -1011.084661 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 215.33; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.53; MB_Bottom_Detect_Filter_Max_Range = 215.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.959718 meters # Minimum depth: 1007.233663 meters looking forward 100.000000 meters along route # Maximum depth: 1008.510215 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.233663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912910; longitude = -117.785298; captureRadius = 10; duration = 209; initialDepth = 957.815669; finalDepth = 957.233663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.832999 # Actual altitude: 53.832999 # Commanded vehicle depth: 957.233663 # Seafloor depth: -1007.432603 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 215.33; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.53; MB_Bottom_Detect_Filter_Max_Range = 215.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.959274 meters # Minimum depth: 1007.815669 meters looking forward 100.000000 meters along route # Maximum depth: 1008.251734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.815669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913445; longitude = -117.784372; captureRadius = 10; duration = 209; initialDepth = 957.662771; finalDepth = 957.815669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.19894 # Actual altitude: 50.19894 # Commanded vehicle depth: 957.815669 # Seafloor depth: -1007.815669 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.80; 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 = 200.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.958831 meters # Minimum depth: 1007.662771 meters looking forward 100.000000 meters along route # Maximum depth: 1008.700428 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.662771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913980; longitude = -117.783446; captureRadius = 10; duration = 209; initialDepth = 957.308439; finalDepth = 957.662771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 957.662771 # Seafloor depth: -1007.662771 # 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 104.958388 meters # Minimum depth: 1007.308439 meters looking forward 100.000000 meters along route # Maximum depth: 1009.290131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.308439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914514; longitude = -117.782520; captureRadius = 10; duration = 209; initialDepth = 957.588084; finalDepth = 957.308439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3460309999999 # Actual altitude: 51.3460309999999 # Commanded vehicle depth: 957.308439 # Seafloor depth: -1008.654470 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.38; 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 = 205.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.957945 meters # Minimum depth: 1007.588084 meters looking forward 100.000000 meters along route # Maximum depth: 1008.537571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.588084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915049; longitude = -117.781593; captureRadius = 10; duration = 209; initialDepth = 957.665766; finalDepth = 957.588084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3460309999999 # Actual altitude: 51.3460309999999 # Commanded vehicle depth: 957.588084 # Seafloor depth: -1008.537571 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.38; 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 = 205.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.957501 meters # Minimum depth: 1007.665766 meters looking forward 100.000000 meters along route # Maximum depth: 1009.259071 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.665766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915583; longitude = -117.780667; captureRadius = 10; duration = 209; initialDepth = 957.338618; finalDepth = 957.665766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.949487 # Actual altitude: 50.949487 # Commanded vehicle depth: 957.665766 # Seafloor depth: -1007.665766 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.80; 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 = 203.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.957057 meters # Minimum depth: 1007.338618 meters looking forward 100.000000 meters along route # Maximum depth: 1008.115269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.338618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916118; longitude = -117.779741; captureRadius = 10; duration = 209; initialDepth = 956.799176; finalDepth = 957.338618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.776651 # Actual altitude: 50.776651 # Commanded vehicle depth: 957.338618 # Seafloor depth: -1008.115269 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.11; 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 = 203.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 106.154133 meters # Minimum depth: 1006.799176 meters looking forward 100.000000 meters along route # Maximum depth: 1008.169870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.799176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916653; longitude = -117.778814; captureRadius = 10; duration = 212; initialDepth = 956.799667; finalDepth = 956.799176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.776651 # Actual altitude: 50.776651 # Commanded vehicle depth: 956.799176 # Seafloor depth: -1007.465584 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.11; 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 = 203.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.758653 meters # Minimum depth: 1006.799667 meters looking forward 100.000000 meters along route # Maximum depth: 1008.838646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.799667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917193; longitude = -117.777877; captureRadius = 10; duration = 207; initialDepth = 957.990055; finalDepth = 956.799667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.400306 # Actual altitude: 51.400306 # Commanded vehicle depth: 956.799667 # Seafloor depth: -1008.199973 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.60; 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 = 205.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 108.260580 meters # Minimum depth: 1007.990055 meters looking forward 100.000000 meters along route # Maximum depth: 1011.306483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.990055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917722; longitude = -117.776962; captureRadius = 10; duration = 216; initialDepth = 960.578762; finalDepth = 957.990055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.400306 # Actual altitude: 51.400306 # Commanded vehicle depth: 957.990055 # Seafloor depth: -1007.990055 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.60; 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 = 205.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 101.650432 meters # Minimum depth: 1010.578762 meters looking forward 100.000000 meters along route # Maximum depth: 1014.089328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.578762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918273; longitude = -117.776006; captureRadius = 10; duration = 203; initialDepth = 964.212464; finalDepth = 960.578762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 960.578762 # Seafloor depth: -1010.578762 # 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 104.954842 meters # Minimum depth: 1014.212464 meters looking forward 100.000000 meters along route # Maximum depth: 1015.489911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.212464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918791; longitude = -117.775109; captureRadius = 10; duration = 209; initialDepth = 967.327249; finalDepth = 964.212464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2305530000001 # Actual altitude: 50.2305530000001 # Commanded vehicle depth: 964.212464 # Seafloor depth: -1014.443017 # behavior reson { duration = 6; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.954398 meters # Minimum depth: 1017.327249 meters looking forward 100.000000 meters along route # Maximum depth: 1023.942124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.327249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919326; longitude = -117.774183; captureRadius = 10; duration = 209; initialDepth = 974.394607; finalDepth = 967.327249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2305530000001 # Actual altitude: 50.2305530000001 # Commanded vehicle depth: 967.327249 # Seafloor depth: -1017.327249 # behavior reson { duration = 6; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.953955 meters # Minimum depth: 1024.394607 meters looking forward 100.000000 meters along route # Maximum depth: 1028.582216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.394607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919861; longitude = -117.773257; captureRadius = 10; duration = 209; initialDepth = 981.771487; finalDepth = 974.394607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 974.394607 # Seafloor depth: -1024.394607 # 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 104.953512 meters # Minimum depth: 1031.771487 meters looking forward 100.000000 meters along route # Maximum depth: 1042.350632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.771487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920395; longitude = -117.772330; captureRadius = 10; duration = 209; initialDepth = 992.496435; finalDepth = 981.771487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 981.771487 # Seafloor depth: -1031.771487 # 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 104.953068 meters # Minimum depth: 1042.496435 meters looking forward 100.000000 meters along route # Maximum depth: 1047.010979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.496435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920930; longitude = -117.771404; captureRadius = 10; duration = 209; initialDepth = 996.211398; finalDepth = 992.496435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0529609999999 # Actual altitude: 51.0529609999999 # Commanded vehicle depth: 992.496435 # Seafloor depth: -1043.549396 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.21; 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 = 204.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.952626 meters # Minimum depth: 1046.211398 meters looking forward 100.000000 meters along route # Maximum depth: 1053.494022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.211398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921464; longitude = -117.770478; captureRadius = 10; duration = 209; initialDepth = 1004.505491; finalDepth = 996.211398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0529609999999 # Actual altitude: 51.0529609999999 # Commanded vehicle depth: 996.211398 # Seafloor depth: -1046.211398 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.21; 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 = 204.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.952182 meters # Minimum depth: 1054.505491 meters looking forward 100.000000 meters along route # Maximum depth: 1056.771714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.505491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921999; longitude = -117.769551; captureRadius = 10; duration = 209; initialDepth = 1002.854117; finalDepth = 1004.505491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1004.505491 # Seafloor depth: -1054.505491 # 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 104.951739 meters # Minimum depth: 1052.854117 meters looking forward 100.000000 meters along route # Maximum depth: 1055.908587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.854117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922534; longitude = -117.768625; captureRadius = 10; duration = 209; initialDepth = 998.638339; finalDepth = 1002.854117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6061219999999 # Actual altitude: 52.6061219999999 # Commanded vehicle depth: 1002.854117 # Seafloor depth: -1055.460239 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.42; 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 = 210.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.951296 meters # Minimum depth: 1048.638339 meters looking forward 100.000000 meters along route # Maximum depth: 1053.861334 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.638339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923068; longitude = -117.767699; captureRadius = 10; duration = 209; initialDepth = 993.216408; finalDepth = 998.638339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2229949999999 # Actual altitude: 55.2229949999999 # Commanded vehicle depth: 998.638339 # Seafloor depth: -1053.861334 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.89; 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 = 220.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.950853 meters # Minimum depth: 1043.216408 meters looking forward 100.000000 meters along route # Maximum depth: 1051.797075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.216408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923603; longitude = -117.766772; captureRadius = 10; duration = 209; initialDepth = 984.145726; finalDepth = 993.216408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.261029 # Actual altitude: 57.261029 # Commanded vehicle depth: 993.216408 # Seafloor depth: -1050.477437 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 229.04; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.90; MB_Bottom_Detect_Filter_Max_Range = 229.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.950410 meters # Minimum depth: 1034.145726 meters looking forward 100.000000 meters along route # Maximum depth: 1044.254017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.145726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.924138; longitude = -117.765846; captureRadius = 10; duration = 209; initialDepth = 976.715183; finalDepth = 984.145726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.108291 # Actual altitude: 60.108291 # Commanded vehicle depth: 984.145726 # Seafloor depth: -1044.254017 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 240.43; 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 = 240.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 106.808288 meters # Minimum depth: 1026.715183 meters looking forward 100.000000 meters along route # Maximum depth: 1033.038457 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.715183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.924672; longitude = -117.764920; captureRadius = 10; duration = 213; initialDepth = 962.759474; finalDepth = 976.715183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.108291 # Actual altitude: 60.108291 # Commanded vehicle depth: 976.715183 # Seafloor depth: -1033.038457 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 240.43; 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 = 240.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.091202 meters # Minimum depth: 1012.759474 meters looking forward 100.000000 meters along route # Maximum depth: 1026.562792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.759474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.925216; longitude = -117.763977; captureRadius = 10; duration = 206; initialDepth = 952.263804; finalDepth = 962.759474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.803318 # Actual altitude: 63.803318 # Commanded vehicle depth: 962.759474 # Seafloor depth: -1026.562792 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 255.21; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.52; MB_Bottom_Detect_Filter_Max_Range = 255.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 255.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 108.914597 meters # Minimum depth: 1002.263804 meters looking forward 100.000000 meters along route # Maximum depth: 1012.390531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.263804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.925741; longitude = -117.763067; captureRadius = 10; duration = 217; initialDepth = 945.041038; finalDepth = 952.263804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.803318 # Actual altitude: 63.803318 # Commanded vehicle depth: 952.263804 # Seafloor depth: -1012.390531 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 255.21; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.52; MB_Bottom_Detect_Filter_Max_Range = 255.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 255.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.983121 meters # Minimum depth: 995.041038 meters looking forward 100.000000 meters along route # Maximum depth: 1001.960441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.041038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.926296; longitude = -117.762106; captureRadius = 10; duration = 201; initialDepth = 939.998981; finalDepth = 945.041038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.126727 # Actual altitude: 60.126727 # Commanded vehicle depth: 945.041038 # Seafloor depth: -1001.960441 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 240.51; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.05; MB_Bottom_Detect_Filter_Max_Range = 240.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.948195 meters # Minimum depth: 989.998981 meters looking forward 100.000000 meters along route # Maximum depth: 994.566266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.998981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.926811; longitude = -117.761215; captureRadius = 10; duration = 209; initialDepth = 930.152566; finalDepth = 939.998981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.919403 # Actual altitude: 56.919403 # Commanded vehicle depth: 939.998981 # Seafloor depth: -994.566266 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 227.68; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.77; MB_Bottom_Detect_Filter_Max_Range = 227.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.947752 meters # Minimum depth: 980.152566 meters looking forward 100.000000 meters along route # Maximum depth: 988.467782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.152566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.927345; longitude = -117.760288; captureRadius = 10; duration = 209; initialDepth = 927.153845; finalDepth = 930.152566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.271796 # Actual altitude: 57.271796 # Commanded vehicle depth: 930.152566 # Seafloor depth: -987.424362 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 229.09; 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 = 229.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.947308 meters # Minimum depth: 977.153845 meters looking forward 100.000000 meters along route # Maximum depth: 981.604903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.153845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.927880; longitude = -117.759362; captureRadius = 10; duration = 209; initialDepth = 922.676828; finalDepth = 927.153845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.271796 # Actual altitude: 57.271796 # Commanded vehicle depth: 927.153845 # Seafloor depth: -978.181322 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 229.09; 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 = 229.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.946866 meters # Minimum depth: 972.676828 meters looking forward 100.000000 meters along route # Maximum depth: 981.546178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.676828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.928415; longitude = -117.758436; captureRadius = 10; duration = 209; initialDepth = 906.210302; finalDepth = 922.676828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8693500000001 # Actual altitude: 58.8693500000001 # Commanded vehicle depth: 922.676828 # Seafloor depth: -981.546178 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 235.48; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.55; MB_Bottom_Detect_Filter_Max_Range = 235.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 115.233309 meters # Minimum depth: 956.210302 meters looking forward 100.000000 meters along route # Maximum depth: 974.649601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 906.210302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.928949; longitude = -117.757509; captureRadius = 10; duration = 230; initialDepth = 901.181840; finalDepth = 906.210302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.439299 # Actual altitude: 68.439299 # Commanded vehicle depth: 906.210302 # Seafloor depth: -974.649601 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 273.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.38; MB_Bottom_Detect_Filter_Max_Range = 273.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 110.267053 meters # Minimum depth: 951.181840 meters looking forward 100.000000 meters along route # Maximum depth: 971.920718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 901.181840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.929536; longitude = -117.756492; captureRadius = 10; duration = 220; initialDepth = 924.348495; finalDepth = 901.181840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 68.439299 # Actual altitude: 68.439299 # Commanded vehicle depth: 901.18184 # Seafloor depth: -956.556432 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 273.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.38; MB_Bottom_Detect_Filter_Max_Range = 273.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.76; 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 149.983531 meters # Minimum depth: 974.348495 meters looking forward 100.000000 meters along route # Maximum depth: 978.878347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.348495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.930098; longitude = -117.755519; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 906.427197; finalDepth = 924.348495; 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: 55.374592 # Actual altitude: 55.374592 # Commanded vehicle depth: 924.348495 # Seafloor depth: -974.348495 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 221.50; 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 = 221.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 111.182191 meters # Minimum depth: 956.427197 meters looking forward 100.000000 meters along route # Maximum depth: 979.099442 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 906.427197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.928981; longitude = -117.754614; captureRadius = 10; duration = 222; # abortOnTimeout = True; initialDepth = 907.142403; finalDepth = 906.427197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.672245 # Actual altitude: 72.672245 # Commanded vehicle depth: 906.427197 # Seafloor depth: -979.099442 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 290.69; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.07; MB_Bottom_Detect_Filter_Max_Range = 290.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.945784 meters # Minimum depth: 957.142403 meters looking forward 100.000000 meters along route # Maximum depth: 971.629620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.142403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.928415; longitude = -117.755595; captureRadius = 10; duration = 209; initialDepth = 921.723775; finalDepth = 907.142403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.672245 # Actual altitude: 72.672245 # Commanded vehicle depth: 907.142403 # Seafloor depth: -959.064461 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 290.69; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.07; MB_Bottom_Detect_Filter_Max_Range = 290.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.946227 meters # Minimum depth: 971.723775 meters looking forward 100.000000 meters along route # Maximum depth: 976.868857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.723775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.927880; longitude = -117.756522; captureRadius = 10; duration = 209; initialDepth = 926.311339; finalDepth = 921.723775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9220580000001 # Actual altitude: 51.9220580000001 # Commanded vehicle depth: 921.723775 # Seafloor depth: -971.723775 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.69; 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 = 207.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.946670 meters # Minimum depth: 976.311339 meters looking forward 100.000000 meters along route # Maximum depth: 979.876362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.311339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.927345; longitude = -117.757448; captureRadius = 10; duration = 209; initialDepth = 929.507337; finalDepth = 926.311339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9023990000001 # Actual altitude: 50.9023990000001 # Commanded vehicle depth: 926.311339 # Seafloor depth: -977.213738 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.61; 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 = 203.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.947113 meters # Minimum depth: 979.507337 meters looking forward 100.000000 meters along route # Maximum depth: 985.802206 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.507337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.926811; longitude = -117.758374; captureRadius = 10; duration = 209; initialDepth = 936.263121; finalDepth = 929.507337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9023990000001 # Actual altitude: 50.9023990000001 # Commanded vehicle depth: 929.507337 # Seafloor depth: -979.507337 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.61; 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 = 203.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 105.845662 meters # Minimum depth: 986.263121 meters looking forward 100.000000 meters along route # Maximum depth: 996.761442 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.263121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.926276; longitude = -117.759300; captureRadius = 10; duration = 211; initialDepth = 946.825121; finalDepth = 936.263121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 936.263121 # Seafloor depth: -986.263121 # 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 104.049893 meters # Minimum depth: 996.825121 meters looking forward 100.000000 meters along route # Maximum depth: 1004.690014 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.825121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.925737; longitude = -117.760235; captureRadius = 10; duration = 208; initialDepth = 955.517600; finalDepth = 946.825121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 946.825121 # Seafloor depth: -996.825121 # 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 107.958140 meters # Minimum depth: 1005.517600 meters looking forward 100.000000 meters along route # Maximum depth: 1015.312121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.517600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.925207; longitude = -117.761153; captureRadius = 10; duration = 215; initialDepth = 965.660583; finalDepth = 955.517600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 955.5176 # Seafloor depth: -1005.517600 # 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 101.939187 meters # Minimum depth: 1015.660583 meters looking forward 100.000000 meters along route # Maximum depth: 1024.738181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.660583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.924657; longitude = -117.762106; captureRadius = 10; duration = 203; initialDepth = 975.737839; finalDepth = 965.660583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 965.660583 # Seafloor depth: -1015.660583 # 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 104.949329 meters # Minimum depth: 1025.737839 meters looking forward 100.000000 meters along route # Maximum depth: 1031.780456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.737839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.924138; longitude = -117.763006; captureRadius = 10; duration = 209; initialDepth = 984.012917; finalDepth = 975.737839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 975.737839 # Seafloor depth: -1025.737839 # 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 104.949771 meters # Minimum depth: 1034.012917 meters looking forward 100.000000 meters along route # Maximum depth: 1046.556159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.012917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923603; longitude = -117.763932; captureRadius = 10; duration = 209; initialDepth = 993.006121; finalDepth = 984.012917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.05647 # Actual altitude: 50.05647 # Commanded vehicle depth: 984.012917 # Seafloor depth: -1034.069387 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.23; 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 = 200.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.950214 meters # Minimum depth: 1043.006121 meters looking forward 100.000000 meters along route # Maximum depth: 1047.287368 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.006121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923068; longitude = -117.764858; captureRadius = 10; duration = 209; initialDepth = 998.848296; finalDepth = 993.006121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1056350000001 # Actual altitude: 51.1056350000001 # Commanded vehicle depth: 993.006121 # Seafloor depth: -1044.111756 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.42; 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 = 204.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.950657 meters # Minimum depth: 1048.848296 meters looking forward 100.000000 meters along route # Maximum depth: 1055.580537 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.848296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922534; longitude = -117.765784; captureRadius = 10; duration = 209; initialDepth = 1004.327406; finalDepth = 998.848296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1056350000001 # Actual altitude: 51.1056350000001 # Commanded vehicle depth: 998.848296 # Seafloor depth: -1048.848296 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.42; 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 = 204.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.951100 meters # Minimum depth: 1054.327406 meters looking forward 100.000000 meters along route # Maximum depth: 1055.454433 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.327406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921999; longitude = -117.766711; captureRadius = 10; duration = 209; initialDepth = 998.161106; finalDepth = 1004.327406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8789549999999 # Actual altitude: 50.8789549999999 # Commanded vehicle depth: 1004.327406 # Seafloor depth: -1055.206361 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.52; 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 = 203.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.951543 meters # Minimum depth: 1048.161106 meters looking forward 100.000000 meters along route # Maximum depth: 1053.434408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.161106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921464; longitude = -117.767637; captureRadius = 10; duration = 209; initialDepth = 990.830542; finalDepth = 998.161106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2733020000001 # Actual altitude: 55.2733020000001 # Commanded vehicle depth: 998.161106 # Seafloor depth: -1053.434408 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.09; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.11; MB_Bottom_Detect_Filter_Max_Range = 221.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.951987 meters # Minimum depth: 1040.830542 meters looking forward 100.000000 meters along route # Maximum depth: 1047.991406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.830542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920930; longitude = -117.768563; captureRadius = 10; duration = 209; initialDepth = 987.094181; finalDepth = 990.830542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1608640000002 # Actual altitude: 57.1608640000002 # Commanded vehicle depth: 990.830542 # Seafloor depth: -1047.991406 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 228.64; 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 = 228.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.952429 meters # Minimum depth: 1037.094181 meters looking forward 100.000000 meters along route # Maximum depth: 1042.622770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.094181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920395; longitude = -117.769490; captureRadius = 10; duration = 209; initialDepth = 976.183708; finalDepth = 987.094181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1608640000002 # Actual altitude: 57.1608640000002 # Commanded vehicle depth: 987.094181 # Seafloor depth: -1039.941127 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 228.64; 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 = 228.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.952873 meters # Minimum depth: 1026.183708 meters looking forward 100.000000 meters along route # Maximum depth: 1038.309200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.183708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919861; longitude = -117.770416; captureRadius = 10; duration = 209; initialDepth = 968.368230; finalDepth = 976.183708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.1254919999999 # Actual altitude: 62.1254919999999 # Commanded vehicle depth: 976.183708 # Seafloor depth: -1038.309200 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 248.50; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.85; MB_Bottom_Detect_Filter_Max_Range = 248.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.953316 meters # Minimum depth: 1018.368230 meters looking forward 100.000000 meters along route # Maximum depth: 1024.726707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.368230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919326; longitude = -117.771342; captureRadius = 10; duration = 209; initialDepth = 962.200231; finalDepth = 968.368230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.1254919999999 # Actual altitude: 62.1254919999999 # Commanded vehicle depth: 968.36823 # Seafloor depth: -1024.726707 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 248.50; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.85; MB_Bottom_Detect_Filter_Max_Range = 248.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.953759 meters # Minimum depth: 1012.200231 meters looking forward 100.000000 meters along route # Maximum depth: 1018.338472 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.200231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918791; longitude = -117.772268; captureRadius = 10; duration = 209; initialDepth = 958.551838; finalDepth = 962.200231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.358477 # Actual altitude: 56.358477 # Commanded vehicle depth: 962.200231 # Seafloor depth: -1018.338472 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 225.43; 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 = 225.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.545791 meters # Minimum depth: 1008.551838 meters looking forward 100.000000 meters along route # Maximum depth: 1012.293536 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.551838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918257; longitude = -117.773195; captureRadius = 10; duration = 213; initialDepth = 957.641424; finalDepth = 958.551838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.138241 # Actual altitude: 56.138241 # Commanded vehicle depth: 958.551838 # Seafloor depth: -1011.977817 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 224.55; 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 = 224.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.363057 meters # Minimum depth: 1007.641424 meters looking forward 100.000000 meters along route # Maximum depth: 1008.548354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.641424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917714; longitude = -117.774135; captureRadius = 10; duration = 206; initialDepth = 956.661923; finalDepth = 957.641424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.425979 # Actual altitude: 53.425979 # Commanded vehicle depth: 957.641424 # Seafloor depth: -1008.548354 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.70; 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 = 213.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 108.658409 meters # Minimum depth: 1006.661923 meters looking forward 100.000000 meters along route # Maximum depth: 1007.831460 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.661923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917187; longitude = -117.775047; captureRadius = 10; duration = 217; initialDepth = 957.406608; finalDepth = 956.661923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.169537 # Actual altitude: 51.169537 # Commanded vehicle depth: 956.661923 # Seafloor depth: -1007.831460 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.68; 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 = 204.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 101.252211 meters # Minimum depth: 1007.406608 meters looking forward 100.000000 meters along route # Maximum depth: 1008.023399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.406608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916634; longitude = -117.776006; captureRadius = 10; duration = 202; initialDepth = 956.108409; finalDepth = 957.406608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.169537 # Actual altitude: 51.169537 # Commanded vehicle depth: 957.406608 # Seafloor depth: -1007.544564 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.68; 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 = 204.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.955975 meters # Minimum depth: 1006.108409 meters looking forward 100.000000 meters along route # Maximum depth: 1007.203722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.108409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916118; longitude = -117.776900; captureRadius = 10; duration = 209; initialDepth = 955.116424; finalDepth = 956.108409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0953129999999 # Actual altitude: 51.0953129999999 # Commanded vehicle depth: 956.108409 # Seafloor depth: -1007.203722 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.38; 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 = 204.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.956418 meters # Minimum depth: 1005.116424 meters looking forward 100.000000 meters along route # Maximum depth: 1006.552172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.116424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915583; longitude = -117.777826; captureRadius = 10; duration = 209; initialDepth = 956.629833; finalDepth = 955.116424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0953129999999 # Actual altitude: 51.0953129999999 # Commanded vehicle depth: 955.116424 # Seafloor depth: -1005.692395 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.38; 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 = 204.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.956862 meters # Minimum depth: 1006.629833 meters looking forward 100.000000 meters along route # Maximum depth: 1009.019109 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.629833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915049; longitude = -117.778752; captureRadius = 10; duration = 209; initialDepth = 955.845892; finalDepth = 956.629833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.575971 # Actual altitude: 50.575971 # Commanded vehicle depth: 956.629833 # Seafloor depth: -1006.629833 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.30; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.957305 meters # Minimum depth: 1005.845892 meters looking forward 100.000000 meters along route # Maximum depth: 1007.890746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.845892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914514; longitude = -117.779679; captureRadius = 10; duration = 209; initialDepth = 956.317408; finalDepth = 955.845892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.044854 # Actual altitude: 52.044854 # Commanded vehicle depth: 955.845892 # Seafloor depth: -1007.890746 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.18; 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 = 208.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.957748 meters # Minimum depth: 1006.317408 meters looking forward 100.000000 meters along route # Maximum depth: 1007.837358 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.317408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913980; longitude = -117.780605; captureRadius = 10; duration = 209; initialDepth = 957.134722; finalDepth = 956.317408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.044854 # Actual altitude: 52.044854 # Commanded vehicle depth: 956.317408 # Seafloor depth: -1006.317408 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.18; 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 = 208.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.958192 meters # Minimum depth: 1007.134722 meters looking forward 100.000000 meters along route # Maximum depth: 1009.372801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.134722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913445; longitude = -117.781531; captureRadius = 10; duration = 209; initialDepth = 958.422706; finalDepth = 957.134722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.09888 # Actual altitude: 50.09888 # Commanded vehicle depth: 957.134722 # Seafloor depth: -1007.233602 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.40; 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 = 200.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.958634 meters # Minimum depth: 1008.422706 meters looking forward 100.000000 meters along route # Maximum depth: 1009.461364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.422706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912910; longitude = -117.782458; captureRadius = 10; duration = 209; initialDepth = 958.874130; finalDepth = 958.422706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8833060000001 # Actual altitude: 50.8833060000001 # Commanded vehicle depth: 958.422706 # Seafloor depth: -1009.306012 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.53; 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 = 203.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.959079 meters # Minimum depth: 1008.874130 meters looking forward 100.000000 meters along route # Maximum depth: 1012.078232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.874130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912376; longitude = -117.783384; captureRadius = 10; duration = 209; initialDepth = 960.590387; finalDepth = 958.874130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8833060000001 # Actual altitude: 50.8833060000001 # Commanded vehicle depth: 958.87413 # Seafloor depth: -1009.176136 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.53; 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 = 203.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.959521 meters # Minimum depth: 1010.590387 meters looking forward 100.000000 meters along route # Maximum depth: 1012.554702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.590387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911841; longitude = -117.784310; captureRadius = 10; duration = 209; initialDepth = 961.937787; finalDepth = 960.590387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.302006 # Actual altitude: 50.302006 # Commanded vehicle depth: 960.590387 # Seafloor depth: -1010.590387 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.21; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 105.133289 meters # Minimum depth: 1011.937787 meters looking forward 100.000000 meters along route # Maximum depth: 1016.095121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.937787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911306; longitude = -117.785236; captureRadius = 10; duration = 210; initialDepth = 966.106579; finalDepth = 961.937787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 961.937787 # Seafloor depth: -1011.937787 # 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 104.787084 meters # Minimum depth: 1016.106579 meters looking forward 100.000000 meters along route # Maximum depth: 1018.700902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.106579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910771; longitude = -117.786164; captureRadius = 10; duration = 209; initialDepth = 967.961463; finalDepth = 966.106579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 966.106579 # Seafloor depth: -1016.106579 # 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 107.246012 meters # Minimum depth: 1017.961463 meters looking forward 100.000000 meters along route # Maximum depth: 1020.606179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.961463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910237; longitude = -117.787089; captureRadius = 10; duration = 214; initialDepth = 970.618326; finalDepth = 967.961463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4381090000001 # Actual altitude: 50.4381090000001 # Commanded vehicle depth: 967.961463 # Seafloor depth: -1018.399572 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.75; 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 = 201.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 102.676135 meters # Minimum depth: 1020.618326 meters looking forward 100.000000 meters along route # Maximum depth: 1029.076764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.618326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909691; longitude = -117.788035; captureRadius = 10; duration = 205; initialDepth = 976.927790; finalDepth = 970.618326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4381090000001 # Actual altitude: 50.4381090000001 # Commanded vehicle depth: 970.618326 # Seafloor depth: -1020.618326 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.75; 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 = 201.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 109.358770 meters # Minimum depth: 1026.927790 meters looking forward 100.000000 meters along route # Maximum depth: 1031.013166 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.927790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909168; longitude = -117.788942; captureRadius = 10; duration = 218; initialDepth = 976.425863; finalDepth = 976.927790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8458970000002 # Actual altitude: 51.8458970000002 # Commanded vehicle depth: 976.92779 # Seafloor depth: -1028.773687 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.38; 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 = 207.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.565150 meters # Minimum depth: 1026.425863 meters looking forward 100.000000 meters along route # Maximum depth: 1029.851489 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.425863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908611; longitude = -117.789907; captureRadius = 10; duration = 201; initialDepth = 973.917195; finalDepth = 976.425863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.425626 # Actual altitude: 53.425626 # Commanded vehicle depth: 976.425863 # Seafloor depth: -1029.851489 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.70; 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 = 213.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.962626 meters # Minimum depth: 1023.917195 meters looking forward 100.000000 meters along route # Maximum depth: 1025.859394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.917195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908099; longitude = -117.790794; captureRadius = 10; duration = 209; initialDepth = 973.586526; finalDepth = 973.917195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.425626 # Actual altitude: 53.425626 # Commanded vehicle depth: 973.917195 # Seafloor depth: -1025.859394 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.70; 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 = 213.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.963069 meters # Minimum depth: 1023.586526 meters looking forward 100.000000 meters along route # Maximum depth: 1025.247053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.586526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907564; longitude = -117.791720; captureRadius = 10; duration = 209; initialDepth = 973.115637; finalDepth = 973.586526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9421990000001 # Actual altitude: 51.9421990000001 # Commanded vehicle depth: 973.586526 # Seafloor depth: -1023.738106 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.77; 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 = 207.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.963512 meters # Minimum depth: 1023.115637 meters looking forward 100.000000 meters along route # Maximum depth: 1024.937690 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.115637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907029; longitude = -117.792647; captureRadius = 10; duration = 209; initialDepth = 974.611724; finalDepth = 973.115637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6700199999999 # Actual altitude: 51.6700199999999 # Commanded vehicle depth: 973.115637 # Seafloor depth: -1024.785657 # 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 27 # Segment length 104.963956 meters # Minimum depth: 1024.611724 meters looking forward 100.000000 meters along route # Maximum depth: 1026.809543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.611724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906495; longitude = -117.793573; captureRadius = 10; duration = 209; initialDepth = 975.426144; finalDepth = 974.611724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6700199999999 # Actual altitude: 51.6700199999999 # Commanded vehicle depth: 974.611724 # Seafloor depth: -1025.242298 # 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 27 # Segment length 104.964399 meters # Minimum depth: 1025.426144 meters looking forward 100.000000 meters along route # Maximum depth: 1026.940403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.426144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905960; longitude = -117.794499; captureRadius = 10; duration = 209; initialDepth = 974.924020; finalDepth = 975.426144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7256419999999 # Actual altitude: 50.7256419999999 # Commanded vehicle depth: 975.426144 # Seafloor depth: -1026.151786 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.90; 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 = 202.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.964843 meters # Minimum depth: 1024.924020 meters looking forward 100.000000 meters along route # Maximum depth: 1028.347177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.924020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905425; longitude = -117.795426; captureRadius = 10; duration = 209; initialDepth = 966.262315; finalDepth = 974.924020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.228151 # Actual altitude: 52.228151 # Commanded vehicle depth: 974.92402 # Seafloor depth: -1027.152171 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.91; 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 = 208.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.965287 meters # Minimum depth: 1016.262315 meters looking forward 100.000000 meters along route # Maximum depth: 1024.296109 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.262315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904891; longitude = -117.796352; captureRadius = 10; duration = 209; initialDepth = 968.430226; finalDepth = 966.262315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0337939999999 # Actual altitude: 58.0337939999999 # Commanded vehicle depth: 966.262315 # Seafloor depth: -1024.296109 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 232.14; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.21; MB_Bottom_Detect_Filter_Max_Range = 232.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.965730 meters # Minimum depth: 1018.430226 meters looking forward 100.000000 meters along route # Maximum depth: 1026.066466 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.430226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904356; longitude = -117.797278; captureRadius = 10; duration = 209; initialDepth = 976.055781; finalDepth = 968.430226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0337939999999 # Actual altitude: 58.0337939999999 # Commanded vehicle depth: 968.430226 # Seafloor depth: -1018.430226 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 232.14; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.21; MB_Bottom_Detect_Filter_Max_Range = 232.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.966173 meters # Minimum depth: 1026.055781 meters looking forward 100.000000 meters along route # Maximum depth: 1031.755291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.055781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903822; longitude = -117.798204; captureRadius = 10; duration = 209; initialDepth = 981.169631; finalDepth = 976.055781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 976.055781 # Seafloor depth: -1026.055781 # 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 105.833461 meters # Minimum depth: 1031.169631 meters looking forward 100.000000 meters along route # Maximum depth: 1039.846998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.169631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903287; longitude = -117.799131; captureRadius = 10; duration = 211; initialDepth = 981.060914; finalDepth = 981.169631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9744720000001 # Actual altitude: 52.9744720000001 # Commanded vehicle depth: 981.169631 # Seafloor depth: -1034.144103 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.90; 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 = 211.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.100217 meters # Minimum depth: 1031.060914 meters looking forward 100.000000 meters along route # Maximum depth: 1033.368526 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.060914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902748; longitude = -117.800065; captureRadius = 10; duration = 208; initialDepth = 982.800279; finalDepth = 981.060914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9744720000001 # Actual altitude: 52.9744720000001 # Commanded vehicle depth: 981.060914 # Seafloor depth: -1031.060914 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.90; 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 = 211.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 107.946324 meters # Minimum depth: 1032.800279 meters looking forward 100.000000 meters along route # Maximum depth: 1038.461324 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.800279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902218; longitude = -117.800983; captureRadius = 10; duration = 215; initialDepth = 988.741386; finalDepth = 982.800279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1133319999999 # Actual altitude: 51.1133319999999 # Commanded vehicle depth: 982.800279 # Seafloor depth: -1033.913611 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.45; 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 = 204.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 126.031685 meters # Minimum depth: 1038.741386 meters looking forward 100.000000 meters along route # Maximum depth: 1043.247546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.741386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901668; longitude = -117.801936; captureRadius = 10; duration = 252; initialDepth = 992.789185; finalDepth = 988.741386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.1133319999999 # Actual altitude: 51.1133319999999 # Commanded vehicle depth: 988.741386 # Seafloor depth: -1039.246430 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 204.45; 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 = 204.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.45; 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 149.961178 meters # Minimum depth: 1042.789185 meters looking forward 100.000000 meters along route # Maximum depth: 1048.398024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.789185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901026; longitude = -117.803048; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 994.260012; finalDepth = 992.789185; 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: 50.505044 # Actual altitude: 50.505044 # Commanded vehicle depth: 992.789185 # Seafloor depth: -1042.789185 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 202.02; 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 = 202.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 138.191722 meters # Minimum depth: 1044.260012 meters looking forward 100.000000 meters along route # Maximum depth: 1047.043797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.260012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899910; longitude = -117.802142; captureRadius = 10; duration = 276; # abortOnTimeout = True; initialDepth = 983.765582; finalDepth = 994.260012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7681250000001 # Actual altitude: 52.7681250000001 # Commanded vehicle depth: 994.260012 # Seafloor depth: -1047.028137 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.07; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 211.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 104.970898 meters # Minimum depth: 1033.765582 meters looking forward 100.000000 meters along route # Maximum depth: 1045.031960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.765582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900614; longitude = -117.800923; captureRadius = 10; duration = 209; initialDepth = 983.842588; finalDepth = 983.765582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.561244 # Actual altitude: 58.561244 # Commanded vehicle depth: 983.765582 # Seafloor depth: -1042.326826 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 234.24; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.42; MB_Bottom_Detect_Filter_Max_Range = 234.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.970455 meters # Minimum depth: 1033.842588 meters looking forward 100.000000 meters along route # Maximum depth: 1037.832930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.842588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901148; longitude = -117.799996; captureRadius = 10; duration = 209; initialDepth = 980.993112; finalDepth = 983.842588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.561244 # Actual altitude: 58.561244 # Commanded vehicle depth: 983.842588 # Seafloor depth: -1033.842588 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 234.24; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.42; MB_Bottom_Detect_Filter_Max_Range = 234.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.970010 meters # Minimum depth: 1030.993112 meters looking forward 100.000000 meters along route # Maximum depth: 1035.765292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.993112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901683; longitude = -117.799070; captureRadius = 10; duration = 209; initialDepth = 971.466368; finalDepth = 980.993112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7721799999999 # Actual altitude: 54.7721799999999 # Commanded vehicle depth: 980.993112 # Seafloor depth: -1035.765292 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 219.09; 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 = 219.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.969567 meters # Minimum depth: 1021.466368 meters looking forward 100.000000 meters along route # Maximum depth: 1029.843937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.466368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902218; longitude = -117.798144; captureRadius = 10; duration = 209; initialDepth = 969.804106; finalDepth = 971.466368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3775690000001 # Actual altitude: 58.3775690000001 # Commanded vehicle depth: 971.466368 # Seafloor depth: -1029.843937 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 233.51; 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 = 233.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.969124 meters # Minimum depth: 1019.804106 meters looking forward 100.000000 meters along route # Maximum depth: 1025.964252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.804106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902752; longitude = -117.797217; captureRadius = 10; duration = 209; initialDepth = 967.485166; finalDepth = 969.804106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3775690000001 # Actual altitude: 58.3775690000001 # Commanded vehicle depth: 969.804106 # Seafloor depth: -1020.046809 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 233.51; 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 = 233.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.968680 meters # Minimum depth: 1017.485166 meters looking forward 100.000000 meters along route # Maximum depth: 1025.850002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.485166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903287; longitude = -117.796291; captureRadius = 10; duration = 209; initialDepth = 974.919917; finalDepth = 967.485166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3648359999999 # Actual altitude: 58.3648359999999 # Commanded vehicle depth: 967.485166 # Seafloor depth: -1025.850002 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 233.46; 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 = 233.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.968236 meters # Minimum depth: 1024.919917 meters looking forward 100.000000 meters along route # Maximum depth: 1033.341321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.919917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903822; longitude = -117.795365; captureRadius = 10; duration = 209; initialDepth = 981.171533; finalDepth = 974.919917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3648359999999 # Actual altitude: 58.3648359999999 # Commanded vehicle depth: 974.919917 # Seafloor depth: -1024.919917 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 233.46; 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 = 233.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.967793 meters # Minimum depth: 1031.171533 meters looking forward 100.000000 meters along route # Maximum depth: 1033.251643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.171533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904356; longitude = -117.794438; captureRadius = 10; duration = 209; initialDepth = 979.365184; finalDepth = 981.171533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0801100000001 # Actual altitude: 52.0801100000001 # Commanded vehicle depth: 981.171533 # Seafloor depth: -1033.251643 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.32; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 105.631557 meters # Minimum depth: 1029.365184 meters looking forward 100.000000 meters along route # Maximum depth: 1030.768208 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.365184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904891; longitude = -117.793512; captureRadius = 10; duration = 211; initialDepth = 978.046095; finalDepth = 979.365184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0801100000001 # Actual altitude: 52.0801100000001 # Commanded vehicle depth: 979.365184 # Seafloor depth: -1030.197810 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.32; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.302699 meters # Minimum depth: 1028.046095 meters looking forward 100.000000 meters along route # Maximum depth: 1029.335004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.046095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905429; longitude = -117.792580; captureRadius = 10; duration = 208; initialDepth = 977.531865; finalDepth = 978.046095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2889090000001 # Actual altitude: 51.2889090000001 # Commanded vehicle depth: 978.046095 # Seafloor depth: -1029.335004 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.16; 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 = 205.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 107.735016 meters # Minimum depth: 1027.531865 meters looking forward 100.000000 meters along route # Maximum depth: 1029.552093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.531865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905960; longitude = -117.791659; captureRadius = 10; duration = 215; initialDepth = 977.658999; finalDepth = 977.531865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2889090000001 # Actual altitude: 51.2889090000001 # Commanded vehicle depth: 977.531865 # Seafloor depth: -1027.531865 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.16; 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 = 205.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 102.197465 meters # Minimum depth: 1027.658999 meters looking forward 100.000000 meters along route # Maximum depth: 1030.508155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.658999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906509; longitude = -117.790709; captureRadius = 10; duration = 204; initialDepth = 980.523912; finalDepth = 977.658999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 977.658999 # Seafloor depth: -1027.658999 # 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 109.838441 meters # Minimum depth: 1030.523912 meters looking forward 100.000000 meters along route # Maximum depth: 1035.952440 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.523912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907029; longitude = -117.789807; captureRadius = 10; duration = 219; initialDepth = 979.973812; finalDepth = 980.523912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.481961 # Actual altitude: 50.481961 # Commanded vehicle depth: 980.523912 # Seafloor depth: -1031.005873 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.93; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.092267 meters # Minimum depth: 1029.973812 meters looking forward 100.000000 meters along route # Maximum depth: 1036.341477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.973812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907589; longitude = -117.788837; captureRadius = 10; duration = 200; initialDepth = 975.128302; finalDepth = 979.973812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.481961 # Actual altitude: 50.481961 # Commanded vehicle depth: 979.973812 # Seafloor depth: -1029.973812 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.93; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.964688 meters # Minimum depth: 1025.128302 meters looking forward 100.000000 meters along route # Maximum depth: 1030.375119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.128302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908099; longitude = -117.787954; captureRadius = 10; duration = 209; initialDepth = 970.963616; finalDepth = 975.128302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.246817 # Actual altitude: 55.246817 # Commanded vehicle depth: 975.128302 # Seafloor depth: -1030.375119 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.99; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.10; MB_Bottom_Detect_Filter_Max_Range = 220.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.964246 meters # Minimum depth: 1020.963616 meters looking forward 100.000000 meters along route # Maximum depth: 1026.687989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.963616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908633; longitude = -117.787028; captureRadius = 10; duration = 209; initialDepth = 968.914016; finalDepth = 970.963616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.724373 # Actual altitude: 55.724373 # Commanded vehicle depth: 970.963616 # Seafloor depth: -1026.687989 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.90; 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 = 222.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.963802 meters # Minimum depth: 1018.914016 meters looking forward 100.000000 meters along route # Maximum depth: 1021.525420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.914016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909168; longitude = -117.786101; captureRadius = 10; duration = 209; initialDepth = 964.246505; finalDepth = 968.914016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.724373 # Actual altitude: 55.724373 # Commanded vehicle depth: 968.914016 # Seafloor depth: -1020.686166 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.90; 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 = 222.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.963358 meters # Minimum depth: 1014.246505 meters looking forward 100.000000 meters along route # Maximum depth: 1017.754711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.246505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909703; longitude = -117.785175; captureRadius = 10; duration = 209; initialDepth = 961.303640; finalDepth = 964.246505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5082060000001 # Actual altitude: 53.5082060000001 # Commanded vehicle depth: 964.246505 # Seafloor depth: -1017.754711 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.03; 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 = 214.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.962915 meters # Minimum depth: 1011.303640 meters looking forward 100.000000 meters along route # Maximum depth: 1014.438280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.303640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910237; longitude = -117.784249; captureRadius = 10; duration = 209; initialDepth = 960.894821; finalDepth = 961.303640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5082060000001 # Actual altitude: 53.5082060000001 # Commanded vehicle depth: 961.30364 # Seafloor depth: -1014.438280 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.03; 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 = 214.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.962472 meters # Minimum depth: 1010.894821 meters looking forward 100.000000 meters along route # Maximum depth: 1012.191462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.894821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910772; longitude = -117.783322; captureRadius = 10; duration = 209; initialDepth = 959.104470; finalDepth = 960.894821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.13464 # Actual altitude: 53.13464 # Commanded vehicle depth: 960.894821 # Seafloor depth: -1011.676731 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.54; 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 = 212.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.962028 meters # Minimum depth: 1009.104470 meters looking forward 100.000000 meters along route # Maximum depth: 1010.937525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.104470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911306; longitude = -117.782396; captureRadius = 10; duration = 209; initialDepth = 959.291326; finalDepth = 959.104470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8330550000001 # Actual altitude: 51.8330550000001 # Commanded vehicle depth: 959.10447 # Seafloor depth: -1010.937525 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.33; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.961586 meters # Minimum depth: 1009.291326 meters looking forward 100.000000 meters along route # Maximum depth: 1009.618106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.291326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911841; longitude = -117.781470; captureRadius = 10; duration = 209; initialDepth = 957.461652; finalDepth = 959.291326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8330550000001 # Actual altitude: 51.8330550000001 # Commanded vehicle depth: 959.291326 # Seafloor depth: -1009.291326 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.33; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.961142 meters # Minimum depth: 1007.461652 meters looking forward 100.000000 meters along route # Maximum depth: 1009.315330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.461652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912376; longitude = -117.780544; captureRadius = 10; duration = 209; initialDepth = 956.116877; finalDepth = 957.461652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8536780000001 # Actual altitude: 51.8536780000001 # Commanded vehicle depth: 957.461652 # Seafloor depth: -1009.315330 # 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 25 # Segment length 106.261986 meters # Minimum depth: 1006.116877 meters looking forward 100.000000 meters along route # Maximum depth: 1007.396849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.116877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912910; longitude = -117.779617; captureRadius = 10; duration = 212; initialDepth = 955.413546; finalDepth = 956.116877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8536780000001 # Actual altitude: 51.8536780000001 # Commanded vehicle depth: 956.116877 # Seafloor depth: -1007.396849 # 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 25 # Segment length 103.658967 meters # Minimum depth: 1005.413546 meters looking forward 100.000000 meters along route # Maximum depth: 1006.145408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.413546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913452; longitude = -117.778679; captureRadius = 10; duration = 207; initialDepth = 955.408446; finalDepth = 955.413546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2799719999999 # Actual altitude: 51.2799719999999 # Commanded vehicle depth: 955.413546 # Seafloor depth: -1006.145408 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.12; 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 = 205.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 108.365308 meters # Minimum depth: 1005.408446 meters looking forward 100.000000 meters along route # Maximum depth: 1006.836386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.408446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913980; longitude = -117.777765; captureRadius = 10; duration = 216; initialDepth = 955.101804; finalDepth = 955.408446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.731862 # Actual altitude: 50.731862 # Commanded vehicle depth: 955.408446 # Seafloor depth: -1005.656493 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.93; 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 = 202.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 101.553873 meters # Minimum depth: 1005.101804 meters looking forward 100.000000 meters along route # Maximum depth: 1005.374323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.101804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914532; longitude = -117.776808; captureRadius = 10; duration = 203; initialDepth = 955.153828; finalDepth = 955.101804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.272519 # Actual altitude: 50.272519 # Commanded vehicle depth: 955.101804 # Seafloor depth: -1005.374323 # 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 25 # Segment length 104.958926 meters # Minimum depth: 1005.153828 meters looking forward 100.000000 meters along route # Maximum depth: 1006.161947 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.153828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915049; longitude = -117.775912; captureRadius = 10; duration = 209; initialDepth = 955.474588; finalDepth = 955.153828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.272519 # Actual altitude: 50.272519 # Commanded vehicle depth: 955.153828 # Seafloor depth: -1005.383738 # 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 25 # Segment length 104.958482 meters # Minimum depth: 1005.474588 meters looking forward 100.000000 meters along route # Maximum depth: 1007.596035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.474588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915583; longitude = -117.774986; captureRadius = 10; duration = 209; initialDepth = 957.236524; finalDepth = 955.474588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.22991 # Actual altitude: 50.22991 # Commanded vehicle depth: 955.474588 # Seafloor depth: -1005.474588 # behavior reson { duration = 6; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.958039 meters # Minimum depth: 1007.236524 meters looking forward 100.000000 meters along route # Maximum depth: 1007.524337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.236524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916118; longitude = -117.774059; captureRadius = 10; duration = 209; initialDepth = 957.489161; finalDepth = 957.236524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2878129999999 # Actual altitude: 50.2878129999999 # Commanded vehicle depth: 957.236524 # Seafloor depth: -1007.524337 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.15; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.957596 meters # Minimum depth: 1007.489161 meters looking forward 100.000000 meters along route # Maximum depth: 1010.548038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.489161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916653; longitude = -117.773133; captureRadius = 10; duration = 209; initialDepth = 960.787243; finalDepth = 957.489161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2878129999999 # Actual altitude: 50.2878129999999 # Commanded vehicle depth: 957.489161 # Seafloor depth: -1007.489161 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.15; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.957153 meters # Minimum depth: 1010.787243 meters looking forward 100.000000 meters along route # Maximum depth: 1016.534512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.787243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917187; longitude = -117.772207; captureRadius = 10; duration = 209; initialDepth = 968.046739; finalDepth = 960.787243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 960.787243 # Seafloor depth: -1010.787243 # 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 104.956710 meters # Minimum depth: 1018.046739 meters looking forward 100.000000 meters along route # Maximum depth: 1022.880085 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.046739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917722; longitude = -117.771280; captureRadius = 10; duration = 209; initialDepth = 973.323242; finalDepth = 968.046739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 968.046739 # Seafloor depth: -1018.046739 # 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 104.956266 meters # Minimum depth: 1023.323242 meters looking forward 100.000000 meters along route # Maximum depth: 1029.311214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.323242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918257; longitude = -117.770354; captureRadius = 10; duration = 209; initialDepth = 980.023071; finalDepth = 973.323242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 973.323242 # Seafloor depth: -1023.323242 # 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 104.955824 meters # Minimum depth: 1030.023071 meters looking forward 100.000000 meters along route # Maximum depth: 1030.861075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.023071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918791; longitude = -117.769428; captureRadius = 10; duration = 209; initialDepth = 980.037198; finalDepth = 980.023071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.449781 # Actual altitude: 50.449781 # Commanded vehicle depth: 980.023071 # Seafloor depth: -1030.472852 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.80; 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 = 201.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.955380 meters # Minimum depth: 1030.037198 meters looking forward 100.000000 meters along route # Maximum depth: 1041.459675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.037198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919326; longitude = -117.768501; captureRadius = 10; duration = 209; initialDepth = 993.999614; finalDepth = 980.037198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.449781 # Actual altitude: 50.449781 # Commanded vehicle depth: 980.037198 # Seafloor depth: -1030.037198 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.80; 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 = 201.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.954937 meters # Minimum depth: 1043.999614 meters looking forward 100.000000 meters along route # Maximum depth: 1053.978352 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.999614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919861; longitude = -117.767575; captureRadius = 10; duration = 209; initialDepth = 1003.982046; finalDepth = 993.999614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 993.999614 # Seafloor depth: -1043.999614 # 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 104.954494 meters # Minimum depth: 1053.982046 meters looking forward 100.000000 meters along route # Maximum depth: 1060.404123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.982046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920395; longitude = -117.766649; captureRadius = 10; duration = 209; initialDepth = 999.474364; finalDepth = 1003.982046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1003.982046 # Seafloor depth: -1053.982046 # 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 106.892338 meters # Minimum depth: 1049.474364 meters looking forward 100.000000 meters along route # Maximum depth: 1055.757661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.474364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920930; longitude = -117.765722; captureRadius = 10; duration = 213; initialDepth = 998.254051; finalDepth = 999.474364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2832970000002 # Actual altitude: 56.2832970000002 # Commanded vehicle depth: 999.474364 # Seafloor depth: -1055.757661 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 225.13; 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 = 225.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 103.015321 meters # Minimum depth: 1048.254051 meters looking forward 100.000000 meters along route # Maximum depth: 1049.543279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.254051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921474; longitude = -117.764779; captureRadius = 10; duration = 206; initialDepth = 983.566055; finalDepth = 998.254051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2832970000002 # Actual altitude: 56.2832970000002 # Commanded vehicle depth: 998.254051 # Seafloor depth: -1049.543279 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 225.13; 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 = 225.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 108.995522 meters # Minimum depth: 1033.566055 meters looking forward 100.000000 meters along route # Maximum depth: 1047.352136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.566055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921999; longitude = -117.763870; captureRadius = 10; duration = 217; initialDepth = 976.208225; finalDepth = 983.566055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.786081 # Actual altitude: 63.786081 # Commanded vehicle depth: 983.566055 # Seafloor depth: -1047.352136 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 255.14; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.51; MB_Bottom_Detect_Filter_Max_Range = 255.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 255.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.910365 meters # Minimum depth: 1026.208225 meters looking forward 100.000000 meters along route # Maximum depth: 1036.077404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.208225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922554; longitude = -117.762908; captureRadius = 10; duration = 201; initialDepth = 968.647533; finalDepth = 976.208225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.786081 # Actual altitude: 63.786081 # Commanded vehicle depth: 976.208225 # Seafloor depth: -1036.077404 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 255.14; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.51; MB_Bottom_Detect_Filter_Max_Range = 255.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 255.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.952279 meters # Minimum depth: 1018.647533 meters looking forward 100.000000 meters along route # Maximum depth: 1025.300011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.647533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923068; longitude = -117.762017; captureRadius = 10; duration = 209; initialDepth = 957.842422; finalDepth = 968.647533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.8691789999998 # Actual altitude: 59.8691789999998 # Commanded vehicle depth: 968.647533 # Seafloor depth: -1025.300011 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 239.48; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.95; MB_Bottom_Detect_Filter_Max_Range = 239.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.951836 meters # Minimum depth: 1007.842422 meters looking forward 100.000000 meters along route # Maximum depth: 1015.505892 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.842422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923603; longitude = -117.761091; captureRadius = 10; duration = 209; initialDepth = 949.989246; finalDepth = 957.842422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.66347 # Actual altitude: 57.66347 # Commanded vehicle depth: 957.842422 # Seafloor depth: -1015.505892 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 230.65; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.07; MB_Bottom_Detect_Filter_Max_Range = 230.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.951393 meters # Minimum depth: 999.989246 meters looking forward 100.000000 meters along route # Maximum depth: 1007.442777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.989246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.924138; longitude = -117.760165; captureRadius = 10; duration = 209; initialDepth = 938.232056; finalDepth = 949.989246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.66347 # Actual altitude: 57.66347 # Commanded vehicle depth: 949.989246 # Seafloor depth: -1007.442777 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 230.65; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.07; MB_Bottom_Detect_Filter_Max_Range = 230.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.950949 meters # Minimum depth: 988.232056 meters looking forward 100.000000 meters along route # Maximum depth: 998.021028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.232056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.924672; longitude = -117.759238; captureRadius = 10; duration = 209; initialDepth = 935.547486; finalDepth = 938.232056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.7889720000001 # Actual altitude: 59.7889720000001 # Commanded vehicle depth: 938.232056 # Seafloor depth: -998.021028 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 239.16; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.92; MB_Bottom_Detect_Filter_Max_Range = 239.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.950507 meters # Minimum depth: 985.547486 meters looking forward 100.000000 meters along route # Maximum depth: 989.922436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.547486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.925207; longitude = -117.758312; captureRadius = 10; duration = 209; initialDepth = 925.463806; finalDepth = 935.547486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.7889720000001 # Actual altitude: 59.7889720000001 # Commanded vehicle depth: 935.547486 # Seafloor depth: -987.748349 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 239.16; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.92; MB_Bottom_Detect_Filter_Max_Range = 239.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.950065 meters # Minimum depth: 975.463806 meters looking forward 100.000000 meters along route # Maximum depth: 986.511195 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.463806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.925741; longitude = -117.757386; captureRadius = 10; duration = 209; initialDepth = 921.667539; finalDepth = 925.463806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.860958 # Actual altitude: 58.860958 # Commanded vehicle depth: 925.463806 # Seafloor depth: -984.324764 # 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 25 # Segment length 104.949621 meters # Minimum depth: 971.667539 meters looking forward 100.000000 meters along route # Maximum depth: 976.519541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.667539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.926276; longitude = -117.756459; captureRadius = 10; duration = 209; initialDepth = 916.124154; finalDepth = 921.667539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.860958 # Actual altitude: 58.860958 # Commanded vehicle depth: 921.667539 # Seafloor depth: -975.952308 # 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 25 # Segment length 104.949178 meters # Minimum depth: 966.124154 meters looking forward 100.000000 meters along route # Maximum depth: 971.227398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 916.124154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.926811; longitude = -117.755533; captureRadius = 10; duration = 209; initialDepth = 905.038426; finalDepth = 916.124154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.284769 # Actual altitude: 54.284769 # Commanded vehicle depth: 916.124154 # Seafloor depth: -968.377442 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 217.14; 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 = 217.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 101.814463 meters # Minimum depth: 955.038426 meters looking forward 100.000000 meters along route # Maximum depth: 974.871510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 905.038426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.927345; longitude = -117.754607; captureRadius = 10; duration = 203; initialDepth = 909.150747; finalDepth = 905.038426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 62.247212 # Actual altitude: 62.247212 # Commanded vehicle depth: 905.038426 # Seafloor depth: -967.285638 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 248.99; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.90; MB_Bottom_Detect_Filter_Max_Range = 248.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.99; 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 149.945926 meters # Minimum depth: 959.150747 meters looking forward 100.000000 meters along route # Maximum depth: 973.366357 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 909.150747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.927864; longitude = -117.753708; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 913.097280; finalDepth = 909.150747; 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: 62.247212 # Actual altitude: 62.247212 # Commanded vehicle depth: 909.150747 # Seafloor depth: -967.340759 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 248.99; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.90; MB_Bottom_Detect_Filter_Max_Range = 248.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 92.640177 meters # Minimum depth: 963.097280 meters looking forward 100.000000 meters along route # Maximum depth: 976.027825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 913.097280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.926748; longitude = -117.752802; captureRadius = 10; duration = 185; # abortOnTimeout = True; initialDepth = 925.794518; finalDepth = 913.097280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.190012 # Actual altitude: 58.190012 # Commanded vehicle depth: 913.09728 # Seafloor depth: -965.584366 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 232.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.28; MB_Bottom_Detect_Filter_Max_Range = 232.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 104.950015 meters # Minimum depth: 975.794518 meters looking forward 100.000000 meters along route # Maximum depth: 981.281202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.794518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.926276; longitude = -117.753620; captureRadius = 10; duration = 209; initialDepth = 925.766625; finalDepth = 925.794518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4870860000001 # Actual altitude: 52.4870860000001 # Commanded vehicle depth: 925.794518 # Seafloor depth: -975.794518 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.95; 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 = 209.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.950459 meters # Minimum depth: 975.766625 meters looking forward 100.000000 meters along route # Maximum depth: 986.259024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.766625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.925741; longitude = -117.754546; captureRadius = 10; duration = 209; initialDepth = 935.724375; finalDepth = 925.766625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.687358 # Actual altitude: 52.687358 # Commanded vehicle depth: 925.766625 # Seafloor depth: -978.453983 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.75; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.07; MB_Bottom_Detect_Filter_Max_Range = 210.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.950901 meters # Minimum depth: 985.724375 meters looking forward 100.000000 meters along route # Maximum depth: 992.354593 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.724375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.925207; longitude = -117.755472; captureRadius = 10; duration = 209; initialDepth = 938.381320; finalDepth = 935.724375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.687358 # Actual altitude: 52.687358 # Commanded vehicle depth: 935.724375 # Seafloor depth: -985.834365 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.75; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.07; MB_Bottom_Detect_Filter_Max_Range = 210.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.951344 meters # Minimum depth: 988.381320 meters looking forward 100.000000 meters along route # Maximum depth: 993.939952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.381320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.924672; longitude = -117.756399; captureRadius = 10; duration = 209; initialDepth = 938.557021; finalDepth = 938.381320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.239086 # Actual altitude: 55.239086 # Commanded vehicle depth: 938.38132 # Seafloor depth: -993.620406 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.96; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.10; MB_Bottom_Detect_Filter_Max_Range = 220.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.951787 meters # Minimum depth: 988.557021 meters looking forward 100.000000 meters along route # Maximum depth: 995.599664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.557021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.924138; longitude = -117.757325; captureRadius = 10; duration = 209; initialDepth = 947.611428; finalDepth = 938.557021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.239086 # Actual altitude: 55.239086 # Commanded vehicle depth: 938.557021 # Seafloor depth: -988.557021 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.96; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.10; MB_Bottom_Detect_Filter_Max_Range = 220.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.952230 meters # Minimum depth: 997.611428 meters looking forward 100.000000 meters along route # Maximum depth: 1006.878793 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.611428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923603; longitude = -117.758251; captureRadius = 10; duration = 209; initialDepth = 956.951804; finalDepth = 947.611428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 947.611428 # Seafloor depth: -997.611428 # 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 104.952673 meters # Minimum depth: 1006.951804 meters looking forward 100.000000 meters along route # Maximum depth: 1012.787572 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.951804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923068; longitude = -117.759178; captureRadius = 10; duration = 209; initialDepth = 964.284213; finalDepth = 956.951804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 956.951804 # Seafloor depth: -1006.951804 # 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 105.680082 meters # Minimum depth: 1014.284213 meters looking forward 100.000000 meters along route # Maximum depth: 1025.338942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.284213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922534; longitude = -117.760104; captureRadius = 10; duration = 211; initialDepth = 975.418270; finalDepth = 964.284213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 964.284213 # Seafloor depth: -1014.284213 # 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 104.226593 meters # Minimum depth: 1025.418270 meters looking forward 100.000000 meters along route # Maximum depth: 1030.906479 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.418270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921995; longitude = -117.761037; captureRadius = 10; duration = 208; initialDepth = 981.056835; finalDepth = 975.418270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 975.41827 # Seafloor depth: -1025.418270 # 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 107.785086 meters # Minimum depth: 1031.056835 meters looking forward 100.000000 meters along route # Maximum depth: 1042.156699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.056835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921464; longitude = -117.761957; captureRadius = 10; duration = 215; initialDepth = 992.507049; finalDepth = 981.056835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 981.056835 # Seafloor depth: -1031.056835 # 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 102.123361 meters # Minimum depth: 1042.507049 meters looking forward 100.000000 meters along route # Maximum depth: 1046.948812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.507049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920915; longitude = -117.762908; captureRadius = 10; duration = 204; initialDepth = 999.460285; finalDepth = 992.507049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 992.507049 # Seafloor depth: -1042.507049 # 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 109.890125 meters # Minimum depth: 1049.460285 meters looking forward 100.000000 meters along route # Maximum depth: 1059.520372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.460285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920395; longitude = -117.763809; captureRadius = 10; duration = 219; initialDepth = 1002.388891; finalDepth = 999.460285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 999.460285 # Seafloor depth: -1049.460285 # 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 100.020094 meters # Minimum depth: 1052.388891 meters looking forward 100.000000 meters along route # Maximum depth: 1059.152491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.388891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919835; longitude = -117.764779; captureRadius = 10; duration = 200; initialDepth = 991.393761; finalDepth = 1002.388891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9771129999999 # Actual altitude: 51.9771129999999 # Commanded vehicle depth: 1002.388891 # Seafloor depth: -1054.366004 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.91; 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 = 207.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.955774 meters # Minimum depth: 1041.393761 meters looking forward 100.000000 meters along route # Maximum depth: 1052.155745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.393761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919326; longitude = -117.765662; captureRadius = 10; duration = 209; initialDepth = 980.494038; finalDepth = 991.393761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.761984 # Actual altitude: 60.761984 # Commanded vehicle depth: 991.393761 # Seafloor depth: -1052.155745 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 243.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.30; MB_Bottom_Detect_Filter_Max_Range = 243.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.956217 meters # Minimum depth: 1030.494038 meters looking forward 100.000000 meters along route # Maximum depth: 1039.639488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.494038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918791; longitude = -117.766588; captureRadius = 10; duration = 209; initialDepth = 972.656425; finalDepth = 980.494038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.761984 # Actual altitude: 60.761984 # Commanded vehicle depth: 980.494038 # Seafloor depth: -1039.570435 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 243.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.30; MB_Bottom_Detect_Filter_Max_Range = 243.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.956660 meters # Minimum depth: 1022.656425 meters looking forward 100.000000 meters along route # Maximum depth: 1029.751778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.656425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918257; longitude = -117.767514; captureRadius = 10; duration = 209; initialDepth = 964.539046; finalDepth = 972.656425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.076397 # Actual altitude: 59.076397 # Commanded vehicle depth: 972.656425 # Seafloor depth: -1029.751778 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 236.31; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.63; MB_Bottom_Detect_Filter_Max_Range = 236.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.957104 meters # Minimum depth: 1014.539046 meters looking forward 100.000000 meters along route # Maximum depth: 1019.843291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.539046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917722; longitude = -117.768441; captureRadius = 10; duration = 209; initialDepth = 961.588445; finalDepth = 964.539046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.095353 # Actual altitude: 57.095353 # Commanded vehicle depth: 964.539046 # Seafloor depth: -1019.843291 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 228.38; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.84; MB_Bottom_Detect_Filter_Max_Range = 228.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.957546 meters # Minimum depth: 1011.588445 meters looking forward 100.000000 meters along route # Maximum depth: 1014.269810 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.588445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917187; longitude = -117.769367; captureRadius = 10; duration = 209; initialDepth = 958.798510; finalDepth = 961.588445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.304245 # Actual altitude: 55.304245 # Commanded vehicle depth: 961.588445 # Seafloor depth: -1014.269810 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.22; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.12; MB_Bottom_Detect_Filter_Max_Range = 221.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.957989 meters # Minimum depth: 1008.798510 meters looking forward 100.000000 meters along route # Maximum depth: 1010.684958 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.798510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916653; longitude = -117.770293; captureRadius = 10; duration = 209; initialDepth = 958.676671; finalDepth = 958.798510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.681365 # Actual altitude: 52.681365 # Commanded vehicle depth: 958.79851 # Seafloor depth: -1010.296834 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.73; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.07; MB_Bottom_Detect_Filter_Max_Range = 210.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.958433 meters # Minimum depth: 1008.676671 meters looking forward 100.000000 meters along route # Maximum depth: 1011.097523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.676671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916118; longitude = -117.771220; captureRadius = 10; duration = 209; initialDepth = 957.064584; finalDepth = 958.676671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.088848 # Actual altitude: 52.088848 # Commanded vehicle depth: 958.676671 # Seafloor depth: -1010.765519 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.36; 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 = 208.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.958876 meters # Minimum depth: 1007.064584 meters looking forward 100.000000 meters along route # Maximum depth: 1008.326386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.064584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915583; longitude = -117.772146; captureRadius = 10; duration = 209; initialDepth = 955.528169; finalDepth = 957.064584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.088848 # Actual altitude: 52.088848 # Commanded vehicle depth: 957.064584 # Seafloor depth: -1008.262658 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.36; 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 = 208.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.959319 meters # Minimum depth: 1005.528169 meters looking forward 100.000000 meters along route # Maximum depth: 1007.044260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.528169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915049; longitude = -117.773072; captureRadius = 10; duration = 209; initialDepth = 954.980586; finalDepth = 955.528169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.516091 # Actual altitude: 51.516091 # Commanded vehicle depth: 955.528169 # Seafloor depth: -1007.044260 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.06; 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 = 206.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 106.323893 meters # Minimum depth: 1004.980586 meters looking forward 100.000000 meters along route # Maximum depth: 1006.653649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.980586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914514; longitude = -117.773999; captureRadius = 10; duration = 212; initialDepth = 954.495031; finalDepth = 954.980586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.516091 # Actual altitude: 51.516091 # Commanded vehicle depth: 954.980586 # Seafloor depth: -1006.023346 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.06; 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 = 206.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 103.596074 meters # Minimum depth: 1004.495031 meters looking forward 100.000000 meters along route # Maximum depth: 1005.646052 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.495031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913973; longitude = -117.774937; captureRadius = 10; duration = 207; initialDepth = 954.677134; finalDepth = 954.495031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0427599999999 # Actual altitude: 51.0427599999999 # Commanded vehicle depth: 954.495031 # Seafloor depth: -1005.041183 # 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 23 # Segment length 108.429037 meters # Minimum depth: 1004.677134 meters looking forward 100.000000 meters along route # Maximum depth: 1005.737780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.677134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913445; longitude = -117.775851; captureRadius = 10; duration = 216; initialDepth = 955.205302; finalDepth = 954.677134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.546152 # Actual altitude: 50.546152 # Commanded vehicle depth: 954.677134 # Seafloor depth: -1004.677134 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.18; 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 = 202.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 101.492704 meters # Minimum depth: 1005.205302 meters looking forward 100.000000 meters along route # Maximum depth: 1006.151617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.205302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912893; longitude = -117.776808; captureRadius = 10; duration = 202; initialDepth = 955.824002; finalDepth = 955.205302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.74752 # Actual altitude: 50.74752 # Commanded vehicle depth: 955.205302 # Seafloor depth: -1005.952822 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.99; 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 = 202.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.961535 meters # Minimum depth: 1005.824002 meters looking forward 100.000000 meters along route # Maximum depth: 1006.571783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.824002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912376; longitude = -117.777704; captureRadius = 10; duration = 209; initialDepth = 956.865962; finalDepth = 955.824002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.74752 # Actual altitude: 50.74752 # Commanded vehicle depth: 955.824002 # Seafloor depth: -1005.824002 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.99; 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 = 202.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.961978 meters # Minimum depth: 1006.865962 meters looking forward 100.000000 meters along route # Maximum depth: 1008.228775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.865962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911841; longitude = -117.778630; captureRadius = 10; duration = 209; initialDepth = 958.484265; finalDepth = 956.865962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.198309 # Actual altitude: 50.198309 # Commanded vehicle depth: 956.865962 # Seafloor depth: -1007.064271 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.79; 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 = 200.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.962422 meters # Minimum depth: 1008.484265 meters looking forward 100.000000 meters along route # Maximum depth: 1009.700200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.484265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911306; longitude = -117.779557; captureRadius = 10; duration = 209; initialDepth = 959.415739; finalDepth = 958.484265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.198309 # Actual altitude: 50.198309 # Commanded vehicle depth: 958.484265 # Seafloor depth: -1008.484265 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.79; 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 = 200.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.962865 meters # Minimum depth: 1009.415739 meters looking forward 100.000000 meters along route # Maximum depth: 1011.974608 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.415739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910772; longitude = -117.780483; captureRadius = 10; duration = 209; initialDepth = 962.235903; finalDepth = 959.415739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 959.415739 # Seafloor depth: -1009.415739 # 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 104.963308 meters # Minimum depth: 1012.235903 meters looking forward 100.000000 meters along route # Maximum depth: 1014.682486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.235903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910237; longitude = -117.781409; captureRadius = 10; duration = 209; initialDepth = 965.365634; finalDepth = 962.235903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 962.235903 # Seafloor depth: -1012.235903 # 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 104.963751 meters # Minimum depth: 1015.365634 meters looking forward 100.000000 meters along route # Maximum depth: 1018.011732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.365634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909703; longitude = -117.782336; captureRadius = 10; duration = 209; initialDepth = 968.109514; finalDepth = 965.365634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 965.365634 # Seafloor depth: -1015.365634 # 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 104.964195 meters # Minimum depth: 1018.109514 meters looking forward 100.000000 meters along route # Maximum depth: 1020.910246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.109514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909168; longitude = -117.783262; captureRadius = 10; duration = 209; initialDepth = 971.700600; finalDepth = 968.109514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 968.109514 # Seafloor depth: -1018.109514 # 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 104.964638 meters # Minimum depth: 1021.700600 meters looking forward 100.000000 meters along route # Maximum depth: 1025.610607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.700600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908633; longitude = -117.784188; captureRadius = 10; duration = 209; initialDepth = 975.622696; finalDepth = 971.700600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 971.7006 # Seafloor depth: -1021.700600 # 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 104.965082 meters # Minimum depth: 1025.622696 meters looking forward 100.000000 meters along route # Maximum depth: 1026.763884 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.622696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908099; longitude = -117.785114; captureRadius = 10; duration = 209; initialDepth = 975.885510; finalDepth = 975.622696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0626130000001 # Actual altitude: 50.0626130000001 # Commanded vehicle depth: 975.622696 # Seafloor depth: -1025.685309 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.25; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.965524 meters # Minimum depth: 1025.885510 meters looking forward 100.000000 meters along route # Maximum depth: 1032.675132 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.885510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907564; longitude = -117.786041; captureRadius = 10; duration = 209; initialDepth = 982.679253; finalDepth = 975.885510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3085039999999 # Actual altitude: 50.3085039999999 # Commanded vehicle depth: 975.88551 # Seafloor depth: -1026.194014 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.23; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.965969 meters # Minimum depth: 1032.679253 meters looking forward 100.000000 meters along route # Maximum depth: 1040.868672 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.679253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907029; longitude = -117.786967; captureRadius = 10; duration = 209; initialDepth = 985.244285; finalDepth = 982.679253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3085039999999 # Actual altitude: 50.3085039999999 # Commanded vehicle depth: 982.679253 # Seafloor depth: -1032.679253 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.23; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 106.967788 meters # Minimum depth: 1035.244285 meters looking forward 100.000000 meters along route # Maximum depth: 1040.268417 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.244285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906495; longitude = -117.787893; captureRadius = 10; duration = 213; initialDepth = 980.299815; finalDepth = 985.244285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6117839999999 # Actual altitude: 52.6117839999999 # Commanded vehicle depth: 985.244285 # Seafloor depth: -1037.856069 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.45; 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 = 210.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 102.965478 meters # Minimum depth: 1030.299815 meters looking forward 100.000000 meters along route # Maximum depth: 1037.572321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.299815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905950; longitude = -117.788837; captureRadius = 10; duration = 205; initialDepth = 976.997879; finalDepth = 980.299815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.272506 # Actual altitude: 57.272506 # Commanded vehicle depth: 980.299815 # Seafloor depth: -1037.572321 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 229.09; 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 = 229.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 109.073071 meters # Minimum depth: 1026.997879 meters looking forward 100.000000 meters along route # Maximum depth: 1030.069904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.997879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905425; longitude = -117.789746; captureRadius = 10; duration = 218; initialDepth = 977.239047; finalDepth = 976.997879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.272506 # Actual altitude: 57.272506 # Commanded vehicle depth: 976.997879 # Seafloor depth: -1030.069904 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 229.09; 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 = 229.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.861970 meters # Minimum depth: 1027.239047 meters looking forward 100.000000 meters along route # Maximum depth: 1028.603660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.239047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904870; longitude = -117.790709; captureRadius = 10; duration = 201; initialDepth = 976.078616; finalDepth = 977.239047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0720249999999 # Actual altitude: 53.0720249999999 # Commanded vehicle depth: 977.239047 # Seafloor depth: -1027.621156 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.29; 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 = 212.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.968185 meters # Minimum depth: 1026.078616 meters looking forward 100.000000 meters along route # Maximum depth: 1028.307409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.078616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904356; longitude = -117.791599; captureRadius = 10; duration = 209; initialDepth = 976.678274; finalDepth = 976.078616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0018399999999 # Actual altitude: 52.0018399999999 # Commanded vehicle depth: 976.078616 # Seafloor depth: -1028.080456 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.01; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 208.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.968629 meters # Minimum depth: 1026.678274 meters looking forward 100.000000 meters along route # Maximum depth: 1030.169179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.678274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903822; longitude = -117.792525; captureRadius = 10; duration = 209; initialDepth = 972.589075; finalDepth = 976.678274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0018399999999 # Actual altitude: 52.0018399999999 # Commanded vehicle depth: 976.678274 # Seafloor depth: -1026.678274 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.01; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 208.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.969073 meters # Minimum depth: 1022.589075 meters looking forward 100.000000 meters along route # Maximum depth: 1029.890409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.589075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903287; longitude = -117.793451; captureRadius = 10; duration = 209; initialDepth = 966.589198; finalDepth = 972.589075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3013340000001 # Actual altitude: 57.3013340000001 # Commanded vehicle depth: 972.589075 # Seafloor depth: -1029.890409 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 229.21; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.92; MB_Bottom_Detect_Filter_Max_Range = 229.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.969515 meters # Minimum depth: 1016.589198 meters looking forward 100.000000 meters along route # Maximum depth: 1029.410435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.589198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902752; longitude = -117.794378; captureRadius = 10; duration = 209; initialDepth = 969.624140; finalDepth = 966.589198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.366621 # Actual altitude: 62.366621 # Commanded vehicle depth: 966.589198 # Seafloor depth: -1028.955819 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 249.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.95; MB_Bottom_Detect_Filter_Max_Range = 249.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.969960 meters # Minimum depth: 1019.624140 meters looking forward 100.000000 meters along route # Maximum depth: 1027.826104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.624140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902218; longitude = -117.795304; captureRadius = 10; duration = 209; initialDepth = 978.500039; finalDepth = 969.624140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.366621 # Actual altitude: 62.366621 # Commanded vehicle depth: 969.62414 # Seafloor depth: -1019.624140 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 249.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.95; MB_Bottom_Detect_Filter_Max_Range = 249.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.970403 meters # Minimum depth: 1028.500039 meters looking forward 100.000000 meters along route # Maximum depth: 1035.090848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.500039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901683; longitude = -117.796230; captureRadius = 10; duration = 209; initialDepth = 985.371002; finalDepth = 978.500039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 978.500039 # Seafloor depth: -1028.500039 # 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 117.494558 meters # Minimum depth: 1035.371002 meters looking forward 100.000000 meters along route # Maximum depth: 1041.946974 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.371002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901148; longitude = -117.797157; captureRadius = 10; duration = 234; initialDepth = 992.881887; finalDepth = 985.371002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 985.371002 # Seafloor depth: -1035.371002 # 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 121.169835 meters # Minimum depth: 1042.881887 meters looking forward 100.000000 meters along route # Maximum depth: 1048.218992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.881887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900550; longitude = -117.798193; captureRadius = 10; duration = 242; initialDepth = 995.760176; finalDepth = 992.881887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.087845 # Actual altitude: 50.087845 # Commanded vehicle depth: 992.881887 # Seafloor depth: -1042.969732 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.35; 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 = 200.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 121.170425 meters # Minimum depth: 1045.760176 meters looking forward 100.000000 meters along route # Maximum depth: 1051.940178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.760176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899933; longitude = -117.799263; captureRadius = 10; duration = 242; initialDepth = 999.285768; finalDepth = 995.760176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.087845 # Actual altitude: 50.087845 # Commanded vehicle depth: 995.760176 # Seafloor depth: -1045.760176 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.35; 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 = 200.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 102.448999 meters # Minimum depth: 1049.285768 meters looking forward 100.000000 meters along route # Maximum depth: 1051.311617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.285768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899316; longitude = -117.800332; captureRadius = 10; duration = 204; initialDepth = 993.655889; finalDepth = 999.285768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 999.285768 # Seafloor depth: -1049.285768 # 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 22 # Segment length 150.053780 meters # Minimum depth: 1043.655889 meters looking forward 100.000000 meters along route # Maximum depth: 1050.012070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.655889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898794; longitude = -117.801236; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 997.855404; finalDepth = 993.655889; 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: 55.1645150000002 # Actual altitude: 55.1645150000002 # Commanded vehicle depth: 993.655889 # Seafloor depth: -1048.820404 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 220.66; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 104.256752 meters # Minimum depth: 1047.855404 meters looking forward 100.000000 meters along route # Maximum depth: 1050.838347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.855404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897677; longitude = -117.800330; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 996.852944; finalDepth = 997.855404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1645150000002 # Actual altitude: 55.1645150000002 # Commanded vehicle depth: 997.855404 # Seafloor depth: -1048.634064 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.66; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 107.574208 meters # Minimum depth: 1046.852944 meters looking forward 100.000000 meters along route # Maximum depth: 1049.802230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.852944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898208; longitude = -117.799410; captureRadius = 10; duration = 215; initialDepth = 989.547349; finalDepth = 996.852944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2426580000001 # Actual altitude: 51.2426580000001 # Commanded vehicle depth: 996.852944 # Seafloor depth: -1048.095602 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.97; 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 = 204.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 102.367978 meters # Minimum depth: 1039.547349 meters looking forward 100.000000 meters along route # Maximum depth: 1049.795927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.547349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898756; longitude = -117.798461; captureRadius = 10; duration = 204; initialDepth = 985.061825; finalDepth = 989.547349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.248578 # Actual altitude: 60.248578 # Commanded vehicle depth: 989.547349 # Seafloor depth: -1049.795927 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 240.99; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.10; MB_Bottom_Detect_Filter_Max_Range = 240.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 109.682109 meters # Minimum depth: 1035.061825 meters looking forward 100.000000 meters along route # Maximum depth: 1041.342699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.061825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899277; longitude = -117.797557; captureRadius = 10; duration = 219; initialDepth = 978.517369; finalDepth = 985.061825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.248578 # Actual altitude: 60.248578 # Commanded vehicle depth: 985.061825 # Seafloor depth: -1040.381349 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 240.99; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.10; MB_Bottom_Detect_Filter_Max_Range = 240.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.258303 meters # Minimum depth: 1028.517369 meters looking forward 100.000000 meters along route # Maximum depth: 1033.959138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.517369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899836; longitude = -117.796590; captureRadius = 10; duration = 200; initialDepth = 975.163890; finalDepth = 978.517369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.441769 # Actual altitude: 55.441769 # Commanded vehicle depth: 978.517369 # Seafloor depth: -1033.959138 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.18; MB_Bottom_Detect_Filter_Max_Range = 221.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.969540 meters # Minimum depth: 1025.163890 meters looking forward 100.000000 meters along route # Maximum depth: 1030.179661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.163890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900347; longitude = -117.795705; captureRadius = 10; duration = 209; initialDepth = 976.732864; finalDepth = 975.163890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.441769 # Actual altitude: 55.441769 # Commanded vehicle depth: 975.16389 # Seafloor depth: -1028.902671 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.18; MB_Bottom_Detect_Filter_Max_Range = 221.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.969098 meters # Minimum depth: 1026.732864 meters looking forward 100.000000 meters along route # Maximum depth: 1031.548071 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.732864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900881; longitude = -117.794779; captureRadius = 10; duration = 209; initialDepth = 978.682016; finalDepth = 976.732864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.100228 # Actual altitude: 54.100228 # Commanded vehicle depth: 976.732864 # Seafloor depth: -1030.833092 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.40; 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 = 216.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.968653 meters # Minimum depth: 1028.682016 meters looking forward 100.000000 meters along route # Maximum depth: 1031.924504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.682016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901416; longitude = -117.793852; captureRadius = 10; duration = 209; initialDepth = 981.778203; finalDepth = 978.682016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.100228 # Actual altitude: 54.100228 # Commanded vehicle depth: 978.682016 # Seafloor depth: -1028.890821 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.40; 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 = 216.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.968211 meters # Minimum depth: 1031.778203 meters looking forward 100.000000 meters along route # Maximum depth: 1034.994246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.778203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901950; longitude = -117.792926; captureRadius = 10; duration = 209; initialDepth = 979.249774; finalDepth = 981.778203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3228709999999 # Actual altitude: 52.3228709999999 # Commanded vehicle depth: 981.778203 # Seafloor depth: -1034.101074 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.29; 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 = 209.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.967767 meters # Minimum depth: 1029.249774 meters looking forward 100.000000 meters along route # Maximum depth: 1031.735398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.249774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902485; longitude = -117.792000; captureRadius = 10; duration = 209; initialDepth = 979.851698; finalDepth = 979.249774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4856240000001 # Actual altitude: 52.4856240000001 # Commanded vehicle depth: 979.249774 # Seafloor depth: -1031.735398 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.94; 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 = 209.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.967323 meters # Minimum depth: 1029.851698 meters looking forward 100.000000 meters along route # Maximum depth: 1030.927147 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.851698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903020; longitude = -117.791073; captureRadius = 10; duration = 209; initialDepth = 979.669781; finalDepth = 979.851698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4856240000001 # Actual altitude: 52.4856240000001 # Commanded vehicle depth: 979.851698 # Seafloor depth: -1029.888046 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.94; 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 = 209.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.966880 meters # Minimum depth: 1029.669781 meters looking forward 100.000000 meters along route # Maximum depth: 1031.179249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.669781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903554; longitude = -117.790147; captureRadius = 10; duration = 209; initialDepth = 980.229122; finalDepth = 979.669781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2370149999999 # Actual altitude: 50.2370149999999 # Commanded vehicle depth: 979.669781 # Seafloor depth: -1029.906796 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.95; 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 = 200.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.966437 meters # Minimum depth: 1030.229122 meters looking forward 100.000000 meters along route # Maximum depth: 1034.516560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.229122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904089; longitude = -117.789221; captureRadius = 10; duration = 209; initialDepth = 984.316027; finalDepth = 980.229122; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2370149999999 # Actual altitude: 50.2370149999999 # Commanded vehicle depth: 980.229122 # Seafloor depth: -1030.229122 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.95; 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 = 200.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.965993 meters # Minimum depth: 1034.316027 meters looking forward 100.000000 meters along route # Maximum depth: 1036.073330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.316027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904624; longitude = -117.788294; captureRadius = 10; duration = 209; initialDepth = 986.942559; finalDepth = 984.316027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2188369999999 # Actual altitude: 50.2188369999999 # Commanded vehicle depth: 984.316027 # Seafloor depth: -1034.534864 # 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 21 # Segment length 106.129262 meters # Minimum depth: 1036.942559 meters looking forward 100.000000 meters along route # Maximum depth: 1040.647116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.942559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905158; longitude = -117.787368; captureRadius = 10; duration = 212; initialDepth = 983.162852; finalDepth = 986.942559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2188369999999 # Actual altitude: 50.2188369999999 # Commanded vehicle depth: 986.942559 # Seafloor depth: -1036.942559 # 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 21 # Segment length 103.801394 meters # Minimum depth: 1033.162852 meters looking forward 100.000000 meters along route # Maximum depth: 1040.603085 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.162852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905699; longitude = -117.786432; captureRadius = 10; duration = 207; initialDepth = 980.137848; finalDepth = 983.162852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.440233 # Actual altitude: 57.440233 # Commanded vehicle depth: 983.162852 # Seafloor depth: -1040.603085 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 229.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.98; MB_Bottom_Detect_Filter_Max_Range = 229.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 108.237060 meters # Minimum depth: 1030.137848 meters looking forward 100.000000 meters along route # Maximum depth: 1034.340093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.137848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906227; longitude = -117.785516; captureRadius = 10; duration = 216; initialDepth = 979.648194; finalDepth = 980.137848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.440233 # Actual altitude: 57.440233 # Commanded vehicle depth: 980.137848 # Seafloor depth: -1034.340093 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 229.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.98; MB_Bottom_Detect_Filter_Max_Range = 229.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 101.691824 meters # Minimum depth: 1029.648194 meters looking forward 100.000000 meters along route # Maximum depth: 1030.982923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.648194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906779; longitude = -117.784560; captureRadius = 10; duration = 203; initialDepth = 974.069997; finalDepth = 979.648194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2022449999999 # Actual altitude: 54.2022449999999 # Commanded vehicle depth: 979.648194 # Seafloor depth: -1030.982923 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.81; 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 = 216.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.963776 meters # Minimum depth: 1024.069997 meters looking forward 100.000000 meters along route # Maximum depth: 1029.065224 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.069997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907297; longitude = -117.783663; captureRadius = 10; duration = 209; initialDepth = 969.053721; finalDepth = 974.069997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.9952269999999 # Actual altitude: 54.9952269999999 # Commanded vehicle depth: 974.069997 # Seafloor depth: -1029.065224 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 219.98; 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 = 219.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.963333 meters # Minimum depth: 1019.053721 meters looking forward 100.000000 meters along route # Maximum depth: 1022.898388 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.053721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907831; longitude = -117.782737; captureRadius = 10; duration = 209; initialDepth = 965.288117; finalDepth = 969.053721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.9952269999999 # Actual altitude: 54.9952269999999 # Commanded vehicle depth: 969.053721 # Seafloor depth: -1022.898388 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 219.98; 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 = 219.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.962890 meters # Minimum depth: 1015.288117 meters looking forward 100.000000 meters along route # Maximum depth: 1018.729640 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.288117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908366; longitude = -117.781810; captureRadius = 10; duration = 209; initialDepth = 962.765836; finalDepth = 965.288117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.844667 # Actual altitude: 53.844667 # Commanded vehicle depth: 965.288117 # Seafloor depth: -1018.729640 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 215.38; 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 = 215.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.962447 meters # Minimum depth: 1012.765836 meters looking forward 100.000000 meters along route # Maximum depth: 1015.177545 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.765836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908901; longitude = -117.780884; captureRadius = 10; duration = 209; initialDepth = 962.875167; finalDepth = 962.765836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.441523 # Actual altitude: 53.441523 # Commanded vehicle depth: 962.765836 # Seafloor depth: -1015.177545 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.77; 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 = 213.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.962004 meters # Minimum depth: 1012.875167 meters looking forward 100.000000 meters along route # Maximum depth: 1013.784799 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.875167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909435; longitude = -117.779958; captureRadius = 10; duration = 209; initialDepth = 960.057792; finalDepth = 962.875167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.411709 # Actual altitude: 52.411709 # Commanded vehicle depth: 962.875167 # Seafloor depth: -1012.875167 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.65; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.961560 meters # Minimum depth: 1010.057792 meters looking forward 100.000000 meters along route # Maximum depth: 1013.024316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.057792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909970; longitude = -117.779031; captureRadius = 10; duration = 209; initialDepth = 957.932195; finalDepth = 960.057792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.966524 # Actual altitude: 52.966524 # Commanded vehicle depth: 960.057792 # Seafloor depth: -1013.024316 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.87; 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 = 211.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.961117 meters # Minimum depth: 1007.932195 meters looking forward 100.000000 meters along route # Maximum depth: 1009.952781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.932195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910504; longitude = -117.778105; captureRadius = 10; duration = 209; initialDepth = 957.250518; finalDepth = 957.932195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.966524 # Actual altitude: 52.966524 # Commanded vehicle depth: 957.932195 # Seafloor depth: -1009.952781 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.87; 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 = 211.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.960674 meters # Minimum depth: 1007.250518 meters looking forward 100.000000 meters along route # Maximum depth: 1008.499475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.250518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911039; longitude = -117.777179; captureRadius = 10; duration = 209; initialDepth = 955.542385; finalDepth = 957.250518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.020586 # Actual altitude: 52.020586 # Commanded vehicle depth: 957.250518 # Seafloor depth: -1008.425217 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.08; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.81; MB_Bottom_Detect_Filter_Max_Range = 208.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.960230 meters # Minimum depth: 1005.542385 meters looking forward 100.000000 meters along route # Maximum depth: 1007.875736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.542385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911574; longitude = -117.776253; captureRadius = 10; duration = 209; initialDepth = 954.807300; finalDepth = 955.542385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.657828 # Actual altitude: 51.657828 # Commanded vehicle depth: 955.542385 # Seafloor depth: -1007.200213 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.63; 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 = 206.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.959788 meters # Minimum depth: 1004.807300 meters looking forward 100.000000 meters along route # Maximum depth: 1006.661385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.807300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912108; longitude = -117.775326; captureRadius = 10; duration = 209; initialDepth = 954.286413; finalDepth = 954.807300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.657828 # Actual altitude: 51.657828 # Commanded vehicle depth: 954.8073 # Seafloor depth: -1006.205065 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.63; 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 = 206.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.959344 meters # Minimum depth: 1004.286413 meters looking forward 100.000000 meters along route # Maximum depth: 1004.801837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.286413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912643; longitude = -117.774400; captureRadius = 10; duration = 209; initialDepth = 953.740973; finalDepth = 954.286413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3977649999999 # Actual altitude: 51.3977649999999 # Commanded vehicle depth: 954.286413 # Seafloor depth: -1004.801837 # 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 21 # Segment length 106.792170 meters # Minimum depth: 1003.740973 meters looking forward 100.000000 meters along route # Maximum depth: 1006.862402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.740973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913178; longitude = -117.773474; captureRadius = 10; duration = 213; initialDepth = 956.581941; finalDepth = 953.740973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.32191 # Actual altitude: 51.32191 # Commanded vehicle depth: 953.740973 # Seafloor depth: -1005.062883 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.29; 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 = 205.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 103.125189 meters # Minimum depth: 1006.581941 meters looking forward 100.000000 meters along route # Maximum depth: 1008.156954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.581941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913722; longitude = -117.772531; captureRadius = 10; duration = 206; initialDepth = 956.723791; finalDepth = 956.581941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.32191 # Actual altitude: 51.32191 # Commanded vehicle depth: 956.581941 # Seafloor depth: -1006.581941 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.29; 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 = 205.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 108.899830 meters # Minimum depth: 1006.723791 meters looking forward 100.000000 meters along route # Maximum depth: 1007.193868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.723791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914247; longitude = -117.771621; captureRadius = 10; duration = 217; initialDepth = 956.254964; finalDepth = 956.723791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.176532 # Actual altitude: 50.176532 # Commanded vehicle depth: 956.723791 # Seafloor depth: -1006.900323 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.71; 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 = 200.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 101.015757 meters # Minimum depth: 1006.254964 meters looking forward 100.000000 meters along route # Maximum depth: 1008.626260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.254964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914802; longitude = -117.770660; captureRadius = 10; duration = 202; initialDepth = 958.896414; finalDepth = 956.254964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.176532 # Actual altitude: 50.176532 # Commanded vehicle depth: 956.254964 # Seafloor depth: -1006.417272 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.71; 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 = 200.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.957129 meters # Minimum depth: 1008.896414 meters looking forward 100.000000 meters along route # Maximum depth: 1011.243430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.896414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915316; longitude = -117.769768; captureRadius = 10; duration = 209; initialDepth = 963.045346; finalDepth = 958.896414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1623080000001 # Actual altitude: 50.1623080000001 # Commanded vehicle depth: 958.896414 # Seafloor depth: -1008.896414 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.65; 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 = 200.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.956685 meters # Minimum depth: 1013.045346 meters looking forward 100.000000 meters along route # Maximum depth: 1016.729831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.045346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915851; longitude = -117.768842; captureRadius = 10; duration = 209; initialDepth = 967.018385; finalDepth = 963.045346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 963.045346 # Seafloor depth: -1013.045346 # 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 104.956243 meters # Minimum depth: 1017.018385 meters looking forward 100.000000 meters along route # Maximum depth: 1022.168234 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.018385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916385; longitude = -117.767916; captureRadius = 10; duration = 209; initialDepth = 970.418341; finalDepth = 967.018385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 967.018385 # Seafloor depth: -1017.018385 # 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 104.955800 meters # Minimum depth: 1020.418341 meters looking forward 100.000000 meters along route # Maximum depth: 1026.788293 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.418341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916920; longitude = -117.766990; captureRadius = 10; duration = 209; initialDepth = 976.363510; finalDepth = 970.418341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1750239999999 # Actual altitude: 50.1750239999999 # Commanded vehicle depth: 970.418341 # Seafloor depth: -1020.593365 # 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 21 # Segment length 104.955356 meters # Minimum depth: 1026.363510 meters looking forward 100.000000 meters along route # Maximum depth: 1035.320569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.363510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917455; longitude = -117.766063; captureRadius = 10; duration = 209; initialDepth = 989.730918; finalDepth = 976.363510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1750239999999 # Actual altitude: 50.1750239999999 # Commanded vehicle depth: 976.36351 # Seafloor depth: -1026.363510 # 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 21 # Segment length 104.954914 meters # Minimum depth: 1039.730918 meters looking forward 100.000000 meters along route # Maximum depth: 1045.665351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.730918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917989; longitude = -117.765137; captureRadius = 10; duration = 209; initialDepth = 991.499921; finalDepth = 989.730918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1883809999999 # Actual altitude: 50.1883809999999 # Commanded vehicle depth: 989.730918 # Seafloor depth: -1039.919299 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.75; 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 = 200.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.954470 meters # Minimum depth: 1041.499921 meters looking forward 100.000000 meters along route # Maximum depth: 1047.453173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.499921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918524; longitude = -117.764211; captureRadius = 10; duration = 209; initialDepth = 991.472892; finalDepth = 991.499921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1883809999999 # Actual altitude: 50.1883809999999 # Commanded vehicle depth: 991.499921 # Seafloor depth: -1041.499921 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.75; 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 = 200.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.954028 meters # Minimum depth: 1041.472892 meters looking forward 100.000000 meters along route # Maximum depth: 1050.483409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.472892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919059; longitude = -117.763284; captureRadius = 10; duration = 209; initialDepth = 984.491942; finalDepth = 991.472892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.097078 # Actual altitude: 57.097078 # Commanded vehicle depth: 991.472892 # Seafloor depth: -1048.569970 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 228.39; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.84; MB_Bottom_Detect_Filter_Max_Range = 228.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.953584 meters # Minimum depth: 1034.491942 meters looking forward 100.000000 meters along route # Maximum depth: 1041.105084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.491942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919593; longitude = -117.762358; captureRadius = 10; duration = 209; initialDepth = 978.576272; finalDepth = 984.491942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.097078 # Actual altitude: 57.097078 # Commanded vehicle depth: 984.491942 # Seafloor depth: -1041.105084 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 228.39; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.84; MB_Bottom_Detect_Filter_Max_Range = 228.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 105.347441 meters # Minimum depth: 1028.576272 meters looking forward 100.000000 meters along route # Maximum depth: 1035.281745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.576272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920128; longitude = -117.761432; captureRadius = 10; duration = 210; initialDepth = 971.160123; finalDepth = 978.576272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.705473 # Actual altitude: 56.705473 # Commanded vehicle depth: 978.576272 # Seafloor depth: -1035.281745 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 226.82; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.68; MB_Bottom_Detect_Filter_Max_Range = 226.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.558399 meters # Minimum depth: 1021.160123 meters looking forward 100.000000 meters along route # Maximum depth: 1028.543473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.160123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920664; longitude = -117.760502; captureRadius = 10; duration = 209; initialDepth = 960.650858; finalDepth = 971.160123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.38335 # Actual altitude: 57.38335 # Commanded vehicle depth: 971.160123 # Seafloor depth: -1028.543473 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 229.53; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.95; MB_Bottom_Detect_Filter_Max_Range = 229.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.454997 meters # Minimum depth: 1010.650858 meters looking forward 100.000000 meters along route # Maximum depth: 1020.052043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.650858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921197; longitude = -117.759579; captureRadius = 10; duration = 214; initialDepth = 951.080886; finalDepth = 960.650858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4011850000001 # Actual altitude: 59.4011850000001 # Commanded vehicle depth: 960.650858 # Seafloor depth: -1020.052043 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 237.60; 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 = 237.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 102.449072 meters # Minimum depth: 1001.080886 meters looking forward 100.000000 meters along route # Maximum depth: 1010.390036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.080886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921744; longitude = -117.758631; captureRadius = 10; duration = 204; initialDepth = 946.321149; finalDepth = 951.080886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4011850000001 # Actual altitude: 59.4011850000001 # Commanded vehicle depth: 951.080886 # Seafloor depth: -1010.390036 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 237.60; 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 = 237.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 109.562517 meters # Minimum depth: 996.321149 meters looking forward 100.000000 meters along route # Maximum depth: 1003.816795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.321149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922266; longitude = -117.757727; captureRadius = 10; duration = 219; initialDepth = 944.342280; finalDepth = 946.321149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.30915 # Actual altitude: 59.30915 # Commanded vehicle depth: 946.321149 # Seafloor depth: -1003.329803 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 237.24; 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 = 237.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.339780 meters # Minimum depth: 994.342280 meters looking forward 100.000000 meters along route # Maximum depth: 998.674896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.342280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922824; longitude = -117.756760; captureRadius = 10; duration = 200; initialDepth = 944.965601; finalDepth = 944.342280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.008654 # Actual altitude: 57.008654 # Commanded vehicle depth: 944.34228 # Seafloor depth: -995.327558 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 228.03; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.80; MB_Bottom_Detect_Filter_Max_Range = 228.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.950484 meters # Minimum depth: 994.965601 meters looking forward 100.000000 meters along route # Maximum depth: 997.681523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.965601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923336; longitude = -117.755874; captureRadius = 10; duration = 209; initialDepth = 930.439592; finalDepth = 944.965601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.985278 # Actual altitude: 50.985278 # Commanded vehicle depth: 944.965601 # Seafloor depth: -994.965601 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.94; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.950041 meters # Minimum depth: 980.439592 meters looking forward 100.000000 meters along route # Maximum depth: 991.874407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.439592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923870; longitude = -117.754948; captureRadius = 10; duration = 209; initialDepth = 923.342546; finalDepth = 930.439592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.4348150000001 # Actual altitude: 61.4348150000001 # Commanded vehicle depth: 930.439592 # Seafloor depth: -991.874407 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 245.74; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.57; MB_Bottom_Detect_Filter_Max_Range = 245.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 113.777451 meters # Minimum depth: 973.342546 meters looking forward 100.000000 meters along route # Maximum depth: 979.458084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.342546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.924405; longitude = -117.754021; captureRadius = 10; duration = 227; initialDepth = 917.203375; finalDepth = 923.342546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.4348150000001 # Actual altitude: 61.4348150000001 # Commanded vehicle depth: 923.342546 # Seafloor depth: -979.458084 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 245.74; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.57; MB_Bottom_Detect_Filter_Max_Range = 245.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 126.915047 meters # Minimum depth: 967.203375 meters looking forward 100.000000 meters along route # Maximum depth: 982.319923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.203375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.924984; longitude = -117.753017; captureRadius = 10; duration = 253; initialDepth = 919.338211; finalDepth = 917.203375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 61.537238 # Actual altitude: 61.537238 # Commanded vehicle depth: 917.203375 # Seafloor depth: -978.740613 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 246.15; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.61; MB_Bottom_Detect_Filter_Max_Range = 246.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 246.15; 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 150.038539 meters # Minimum depth: 969.338211 meters looking forward 100.000000 meters along route # Maximum depth: 985.274559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.338211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.925631; longitude = -117.751897; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 918.438470; finalDepth = 919.338211; 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: 61.537238 # Actual altitude: 61.537238 # Commanded vehicle depth: 919.338211 # Seafloor depth: -969.338211 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 246.15; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.61; MB_Bottom_Detect_Filter_Max_Range = 246.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 246.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 126.375635 meters # Minimum depth: 968.438470 meters looking forward 100.000000 meters along route # Maximum depth: 977.738647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.438470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.924514; longitude = -117.750991; captureRadius = 10; duration = 252; # abortOnTimeout = True; initialDepth = 925.589953; finalDepth = 918.438470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3358529999999 # Actual altitude: 57.3358529999999 # Commanded vehicle depth: 918.43847 # Seafloor depth: -975.774323 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 229.34; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.93; MB_Bottom_Detect_Filter_Max_Range = 229.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.952993 meters # Minimum depth: 975.589953 meters looking forward 100.000000 meters along route # Maximum depth: 990.588757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.589953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923870; longitude = -117.752106; captureRadius = 10; duration = 209; initialDepth = 933.884124; finalDepth = 925.589953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3358529999999 # Actual altitude: 57.3358529999999 # Commanded vehicle depth: 925.589953 # Seafloor depth: -975.589953 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 229.34; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.93; MB_Bottom_Detect_Filter_Max_Range = 229.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.953435 meters # Minimum depth: 983.884124 meters looking forward 100.000000 meters along route # Maximum depth: 991.586389 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.884124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923336; longitude = -117.753033; captureRadius = 10; duration = 209; initialDepth = 941.967387; finalDepth = 933.884124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 933.884124 # Seafloor depth: -983.884124 # 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 105.290230 meters # Minimum depth: 991.967387 meters looking forward 100.000000 meters along route # Maximum depth: 997.476549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.967387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922801; longitude = -117.753959; captureRadius = 10; duration = 210; initialDepth = 946.338054; finalDepth = 941.967387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.347098 # Actual altitude: 50.347098 # Commanded vehicle depth: 941.967387 # Seafloor depth: -992.314485 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.39; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.617970 meters # Minimum depth: 996.338054 meters looking forward 100.000000 meters along route # Maximum depth: 999.167888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.338054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922265; longitude = -117.754888; captureRadius = 10; duration = 209; initialDepth = 948.356267; finalDepth = 946.338054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.347098 # Actual altitude: 50.347098 # Commanded vehicle depth: 946.338054 # Seafloor depth: -996.338054 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.39; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.392038 meters # Minimum depth: 998.356267 meters looking forward 100.000000 meters along route # Maximum depth: 1004.151770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.356267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921732; longitude = -117.755812; captureRadius = 10; duration = 214; initialDepth = 954.127121; finalDepth = 948.356267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 948.356267 # Seafloor depth: -998.356267 # 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 102.517933 meters # Minimum depth: 1004.127121 meters looking forward 100.000000 meters along route # Maximum depth: 1012.206112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.127121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921185; longitude = -117.756760; captureRadius = 10; duration = 205; initialDepth = 962.669392; finalDepth = 954.127121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 954.127121 # Seafloor depth: -1004.127121 # 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 109.493882 meters # Minimum depth: 1012.669392 meters looking forward 100.000000 meters along route # Maximum depth: 1018.220204 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.669392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920662; longitude = -117.757664; captureRadius = 10; duration = 218; initialDepth = 968.489819; finalDepth = 962.669392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0133549999999 # Actual altitude: 50.0133549999999 # Commanded vehicle depth: 962.669392 # Seafloor depth: -1012.682747 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.05; 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 = 200.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.417860 meters # Minimum depth: 1018.489819 meters looking forward 100.000000 meters along route # Maximum depth: 1026.972959 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.489819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920105; longitude = -117.758631; captureRadius = 10; duration = 200; initialDepth = 977.876949; finalDepth = 968.489819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0133549999999 # Actual altitude: 50.0133549999999 # Commanded vehicle depth: 968.489819 # Seafloor depth: -1018.489819 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.05; 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 = 200.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.956536 meters # Minimum depth: 1027.876949 meters looking forward 100.000000 meters along route # Maximum depth: 1030.925138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.876949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919593; longitude = -117.759517; captureRadius = 10; duration = 209; initialDepth = 981.550864; finalDepth = 977.876949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 977.876949 # Seafloor depth: -1027.876949 # 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 104.956979 meters # Minimum depth: 1031.550864 meters looking forward 100.000000 meters along route # Maximum depth: 1036.939115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.550864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919059; longitude = -117.760443; captureRadius = 10; duration = 209; initialDepth = 987.836202; finalDepth = 981.550864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 981.550864 # Seafloor depth: -1031.550864 # 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 104.957421 meters # Minimum depth: 1037.836202 meters looking forward 100.000000 meters along route # Maximum depth: 1048.552838 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.836202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918524; longitude = -117.761370; captureRadius = 10; duration = 209; initialDepth = 987.734909; finalDepth = 987.836202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 987.836202 # Seafloor depth: -1037.836202 # 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 104.957865 meters # Minimum depth: 1037.734909 meters looking forward 100.000000 meters along route # Maximum depth: 1050.798585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.734909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917989; longitude = -117.762296; captureRadius = 10; duration = 209; initialDepth = 978.231378; finalDepth = 987.734909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.319432 # Actual altitude: 61.319432 # Commanded vehicle depth: 987.734909 # Seafloor depth: -1049.054341 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 245.28; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.53; MB_Bottom_Detect_Filter_Max_Range = 245.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.958308 meters # Minimum depth: 1028.231378 meters looking forward 100.000000 meters along route # Maximum depth: 1036.583317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.231378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917455; longitude = -117.763222; captureRadius = 10; duration = 209; initialDepth = 972.609326; finalDepth = 978.231378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.319432 # Actual altitude: 61.319432 # Commanded vehicle depth: 978.231378 # Seafloor depth: -1036.583317 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 245.28; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.53; MB_Bottom_Detect_Filter_Max_Range = 245.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.958750 meters # Minimum depth: 1022.609326 meters looking forward 100.000000 meters along route # Maximum depth: 1031.474500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.609326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916920; longitude = -117.764149; captureRadius = 10; duration = 209; initialDepth = 969.331236; finalDepth = 972.609326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.865174 # Actual altitude: 58.865174 # Commanded vehicle depth: 972.609326 # Seafloor depth: -1031.474500 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 235.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.55; MB_Bottom_Detect_Filter_Max_Range = 235.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.959194 meters # Minimum depth: 1019.331236 meters looking forward 100.000000 meters along route # Maximum depth: 1023.333285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.331236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916385; longitude = -117.765075; captureRadius = 10; duration = 209; initialDepth = 968.113698; finalDepth = 969.331236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.865174 # Actual altitude: 58.865174 # Commanded vehicle depth: 969.331236 # Seafloor depth: -1022.300597 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 235.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.55; MB_Bottom_Detect_Filter_Max_Range = 235.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.959636 meters # Minimum depth: 1018.113698 meters looking forward 100.000000 meters along route # Maximum depth: 1020.382484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.113698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915851; longitude = -117.766001; captureRadius = 10; duration = 209; initialDepth = 964.765950; finalDepth = 968.113698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.969361 # Actual altitude: 52.969361 # Commanded vehicle depth: 968.113698 # Seafloor depth: -1019.313344 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.88; 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 = 211.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.960080 meters # Minimum depth: 1014.765950 meters looking forward 100.000000 meters along route # Maximum depth: 1018.062020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.765950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915316; longitude = -117.766928; captureRadius = 10; duration = 209; initialDepth = 959.606536; finalDepth = 964.765950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.29607 # Actual altitude: 53.29607 # Commanded vehicle depth: 964.76595 # Seafloor depth: -1018.062020 # 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 19 # Segment length 105.910194 meters # Minimum depth: 1009.606536 meters looking forward 100.000000 meters along route # Maximum depth: 1014.426042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.606536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914782; longitude = -117.767854; captureRadius = 10; duration = 211; initialDepth = 957.007755; finalDepth = 959.606536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.819506 # Actual altitude: 54.819506 # Commanded vehicle depth: 959.606536 # Seafloor depth: -1014.426042 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 219.28; 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 = 219.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.011295 meters # Minimum depth: 1007.007755 meters looking forward 100.000000 meters along route # Maximum depth: 1010.076042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.007755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914242; longitude = -117.768789; captureRadius = 10; duration = 208; initialDepth = 953.987996; finalDepth = 957.007755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.819506 # Actual altitude: 54.819506 # Commanded vehicle depth: 957.007755 # Seafloor depth: -1009.565177 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 219.28; 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 = 219.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 108.012141 meters # Minimum depth: 1003.987996 meters looking forward 100.000000 meters along route # Maximum depth: 1007.386968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.987996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913712; longitude = -117.769707; captureRadius = 10; duration = 216; initialDepth = 955.289496; finalDepth = 953.987996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3989720000001 # Actual altitude: 53.3989720000001 # Commanded vehicle depth: 953.987996 # Seafloor depth: -1007.386968 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.60; 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 = 213.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 101.911120 meters # Minimum depth: 1005.289496 meters looking forward 100.000000 meters along route # Maximum depth: 1006.264708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.289496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913162; longitude = -117.770660; captureRadius = 10; duration = 203; initialDepth = 955.514705; finalDepth = 955.289496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3989720000001 # Actual altitude: 53.3989720000001 # Commanded vehicle depth: 955.289496 # Seafloor depth: -1005.874154 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.60; 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 = 213.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.962295 meters # Minimum depth: 1005.514705 meters looking forward 100.000000 meters along route # Maximum depth: 1007.312869 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.514705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912643; longitude = -117.771559; captureRadius = 10; duration = 209; initialDepth = 955.945242; finalDepth = 955.514705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0135879999999 # Actual altitude: 51.0135879999999 # Commanded vehicle depth: 955.514705 # Seafloor depth: -1006.528293 # behavior reson { duration = 6; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.962738 meters # Minimum depth: 1005.945242 meters looking forward 100.000000 meters along route # Maximum depth: 1006.840386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.945242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912108; longitude = -117.772486; captureRadius = 10; duration = 209; initialDepth = 956.212918; finalDepth = 955.945242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0135879999999 # Actual altitude: 51.0135879999999 # Commanded vehicle depth: 955.945242 # Seafloor depth: -1006.840386 # behavior reson { duration = 6; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.963182 meters # Minimum depth: 1006.212918 meters looking forward 100.000000 meters along route # Maximum depth: 1007.297399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.212918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911574; longitude = -117.773412; captureRadius = 10; duration = 209; initialDepth = 957.841682; finalDepth = 956.212918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.895144 # Actual altitude: 50.895144 # Commanded vehicle depth: 956.212918 # Seafloor depth: -1006.212918 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.58; 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 = 203.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.963624 meters # Minimum depth: 1007.841682 meters looking forward 100.000000 meters along route # Maximum depth: 1008.799866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.841682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911039; longitude = -117.774338; captureRadius = 10; duration = 209; initialDepth = 959.147191; finalDepth = 957.841682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.032296 # Actual altitude: 50.032296 # Commanded vehicle depth: 957.841682 # Seafloor depth: -1007.873978 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.13; 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 = 200.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.964068 meters # Minimum depth: 1009.147191 meters looking forward 100.000000 meters along route # Maximum depth: 1011.045116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.147191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910504; longitude = -117.775265; captureRadius = 10; duration = 209; initialDepth = 961.289361; finalDepth = 959.147191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.032296 # Actual altitude: 50.032296 # Commanded vehicle depth: 959.147191 # Seafloor depth: -1009.147191 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.13; 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 = 200.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.964511 meters # Minimum depth: 1011.289361 meters looking forward 100.000000 meters along route # Maximum depth: 1013.474360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.289361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909970; longitude = -117.776191; captureRadius = 10; duration = 209; initialDepth = 963.573725; finalDepth = 961.289361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.007692 # Actual altitude: 50.007692 # Commanded vehicle depth: 961.289361 # Seafloor depth: -1011.297053 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.03; 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 = 200.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.964954 meters # Minimum depth: 1013.573725 meters looking forward 100.000000 meters along route # Maximum depth: 1017.173624 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.573725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909435; longitude = -117.777117; captureRadius = 10; duration = 209; initialDepth = 967.675806; finalDepth = 963.573725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.007692 # Actual altitude: 50.007692 # Commanded vehicle depth: 963.573725 # Seafloor depth: -1013.573725 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.03; 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 = 200.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.965398 meters # Minimum depth: 1017.675806 meters looking forward 100.000000 meters along route # Maximum depth: 1018.951268 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.675806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908901; longitude = -117.778044; captureRadius = 10; duration = 209; initialDepth = 968.972555; finalDepth = 967.675806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 967.675806 # Seafloor depth: -1017.675806 # 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 104.965840 meters # Minimum depth: 1018.972555 meters looking forward 100.000000 meters along route # Maximum depth: 1021.342559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.972555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908366; longitude = -117.778970; captureRadius = 10; duration = 209; initialDepth = 969.845383; finalDepth = 968.972555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 968.972555 # Seafloor depth: -1018.972555 # 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 104.966284 meters # Minimum depth: 1019.845383 meters looking forward 100.000000 meters along route # Maximum depth: 1021.320325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.845383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907831; longitude = -117.779896; captureRadius = 10; duration = 209; initialDepth = 969.876028; finalDepth = 969.845383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4749420000001 # Actual altitude: 51.4749420000001 # Commanded vehicle depth: 969.845383 # Seafloor depth: -1021.320325 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.90; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.966728 meters # Minimum depth: 1019.876028 meters looking forward 100.000000 meters along route # Maximum depth: 1021.716284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.876028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907297; longitude = -117.780823; captureRadius = 10; duration = 209; initialDepth = 971.445551; finalDepth = 969.876028; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4749420000001 # Actual altitude: 51.4749420000001 # Commanded vehicle depth: 969.876028 # Seafloor depth: -1019.876028 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.90; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 106.530239 meters # Minimum depth: 1021.445551 meters looking forward 100.000000 meters along route # Maximum depth: 1028.950971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.445551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906762; longitude = -117.781749; captureRadius = 10; duration = 213; initialDepth = 979.078437; finalDepth = 971.445551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 971.445551 # Seafloor depth: -1021.445551 # 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 103.404545 meters # Minimum depth: 1029.078437 meters looking forward 100.000000 meters along route # Maximum depth: 1035.669444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.078437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906219; longitude = -117.782689; captureRadius = 10; duration = 206; initialDepth = 986.358691; finalDepth = 979.078437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 979.078437 # Seafloor depth: -1029.078437 # 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 108.632325 meters # Minimum depth: 1036.358691 meters looking forward 100.000000 meters along route # Maximum depth: 1041.618311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.358691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905693; longitude = -117.783602; captureRadius = 10; duration = 217; initialDepth = 991.724740; finalDepth = 986.358691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 986.358691 # Seafloor depth: -1036.358691 # 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 101.304232 meters # Minimum depth: 1041.724740 meters looking forward 100.000000 meters along route # Maximum depth: 1043.837880 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.724740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905140; longitude = -117.784560; captureRadius = 10; duration = 202; initialDepth = 988.822542; finalDepth = 991.724740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1669089999998 # Actual altitude: 50.1669089999998 # Commanded vehicle depth: 991.72474 # Seafloor depth: -1041.891649 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.67; 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 = 200.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.968944 meters # Minimum depth: 1038.822542 meters looking forward 100.000000 meters along route # Maximum depth: 1043.333824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.822542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904624; longitude = -117.785454; captureRadius = 10; duration = 209; initialDepth = 989.715523; finalDepth = 988.822542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5112819999999 # Actual altitude: 54.5112819999999 # Commanded vehicle depth: 988.822542 # Seafloor depth: -1043.333824 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.80; MB_Bottom_Detect_Filter_Max_Range = 218.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.969387 meters # Minimum depth: 1039.715523 meters looking forward 100.000000 meters along route # Maximum depth: 1041.267281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.715523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904089; longitude = -117.786381; captureRadius = 10; duration = 209; initialDepth = 983.730456; finalDepth = 989.715523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5112819999999 # Actual altitude: 54.5112819999999 # Commanded vehicle depth: 989.715523 # Seafloor depth: -1040.684027 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.80; MB_Bottom_Detect_Filter_Max_Range = 218.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.969831 meters # Minimum depth: 1033.730456 meters looking forward 100.000000 meters along route # Maximum depth: 1039.542619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.730456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903554; longitude = -117.787307; captureRadius = 10; duration = 209; initialDepth = 983.298000; finalDepth = 983.730456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8121630000001 # Actual altitude: 55.8121630000001 # Commanded vehicle depth: 983.730456 # Seafloor depth: -1039.542619 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 223.25; 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 = 223.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.970274 meters # Minimum depth: 1033.298000 meters looking forward 100.000000 meters along route # Maximum depth: 1034.598476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.298000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903020; longitude = -117.788233; captureRadius = 10; duration = 209; initialDepth = 984.188915; finalDepth = 983.298000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8121630000001 # Actual altitude: 55.8121630000001 # Commanded vehicle depth: 983.298 # Seafloor depth: -1034.297225 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 223.25; 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 = 223.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.970717 meters # Minimum depth: 1034.188915 meters looking forward 100.000000 meters along route # Maximum depth: 1034.899615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.188915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902485; longitude = -117.789160; captureRadius = 10; duration = 209; initialDepth = 984.724510; finalDepth = 984.188915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.999225 # Actual altitude: 50.999225 # Commanded vehicle depth: 984.188915 # Seafloor depth: -1034.188915 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.00; 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 = 204.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.971161 meters # Minimum depth: 1034.724510 meters looking forward 100.000000 meters along route # Maximum depth: 1037.778635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.724510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901950; longitude = -117.790086; captureRadius = 10; duration = 209; initialDepth = 986.018998; finalDepth = 984.724510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 984.72451 # Seafloor depth: -1034.724510 # 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 104.971604 meters # Minimum depth: 1036.018998 meters looking forward 100.000000 meters along route # Maximum depth: 1037.689909 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.018998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901416; longitude = -117.791012; captureRadius = 10; duration = 209; initialDepth = 979.630380; finalDepth = 986.018998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6709109999999 # Actual altitude: 51.6709109999999 # Commanded vehicle depth: 986.018998 # Seafloor depth: -1037.689909 # 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 19 # Segment length 104.972047 meters # Minimum depth: 1029.630380 meters looking forward 100.000000 meters along route # Maximum depth: 1036.772845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.630380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900881; longitude = -117.791939; captureRadius = 10; duration = 209; initialDepth = 977.867628; finalDepth = 979.630380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1424649999999 # Actual altitude: 57.1424649999999 # Commanded vehicle depth: 979.63038 # Seafloor depth: -1036.772845 # 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 19 # Segment length 104.972491 meters # Minimum depth: 1027.867628 meters looking forward 100.000000 meters along route # Maximum depth: 1034.111815 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.867628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900347; longitude = -117.792865; captureRadius = 10; duration = 209; initialDepth = 979.383081; finalDepth = 977.867628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1424649999999 # Actual altitude: 57.1424649999999 # Commanded vehicle depth: 977.867628 # Seafloor depth: -1034.111815 # 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 19 # Segment length 105.048177 meters # Minimum depth: 1029.383081 meters looking forward 100.000000 meters along route # Maximum depth: 1038.677346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.383081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899812; longitude = -117.793791; captureRadius = 10; duration = 210; initialDepth = 987.198354; finalDepth = 979.383081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.244187 # Actual altitude: 56.244187 # Commanded vehicle depth: 979.383081 # Seafloor depth: -1029.383081 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 224.98; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 224.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.898136 meters # Minimum depth: 1037.198354 meters looking forward 100.000000 meters along route # Maximum depth: 1044.354562 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.198354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899277; longitude = -117.794718; captureRadius = 10; duration = 209; initialDepth = 996.687737; finalDepth = 987.198354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 987.198354 # Seafloor depth: -1037.198354 # 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 107.150365 meters # Minimum depth: 1046.687737 meters looking forward 100.000000 meters along route # Maximum depth: 1056.329434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.687737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898743; longitude = -117.795644; captureRadius = 10; duration = 214; initialDepth = 1006.819562; finalDepth = 996.687737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 996.687737 # Seafloor depth: -1046.687737 # 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 102.797721 meters # Minimum depth: 1056.819562 meters looking forward 100.000000 meters along route # Maximum depth: 1061.407924 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.819562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898197; longitude = -117.796590; captureRadius = 10; duration = 205; initialDepth = 998.841906; finalDepth = 1006.819562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1006.819562 # Seafloor depth: -1056.819562 # 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 109.252591 meters # Minimum depth: 1048.841906 meters looking forward 100.000000 meters along route # Maximum depth: 1054.501360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.841906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897673; longitude = -117.797497; captureRadius = 10; duration = 218; initialDepth = 999.280257; finalDepth = 998.841906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6594539999999 # Actual altitude: 55.6594539999999 # Commanded vehicle depth: 998.841906 # Seafloor depth: -1054.501360 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.64; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.26; MB_Bottom_Detect_Filter_Max_Range = 222.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 109.159612 meters # Minimum depth: 1049.280257 meters looking forward 100.000000 meters along route # Maximum depth: 1050.568807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.280257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897117; longitude = -117.798461; captureRadius = 10; duration = 218; initialDepth = 1000.482248; finalDepth = 999.280257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.6594539999999 # Actual altitude: 55.6594539999999 # Commanded vehicle depth: 999.280257 # Seafloor depth: -1049.280257 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 222.64; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.26; MB_Bottom_Detect_Filter_Max_Range = 222.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.64; 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 18 # Segment length 150.002098 meters # Minimum depth: 1050.482248 meters looking forward 100.000000 meters along route # Maximum depth: 1051.229408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.482248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896561; longitude = -117.799424; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 999.427701; finalDepth = 1000.482248; 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: 50.519644 # Actual altitude: 50.519644 # Commanded vehicle depth: 1000.482248 # Seafloor depth: -1051.001892 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 202.08; 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 = 202.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 127.774368 meters # Minimum depth: 1049.427701 meters looking forward 100.000000 meters along route # Maximum depth: 1051.201242 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.427701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895444; longitude = -117.798519; captureRadius = 10; duration = 255; # abortOnTimeout = True; initialDepth = 999.021240; finalDepth = 999.427701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.709018 # Actual altitude: 51.709018 # Commanded vehicle depth: 999.427701 # Seafloor depth: -1051.136719 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.84; 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 = 206.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.016579 meters # Minimum depth: 1049.021240 meters looking forward 100.000000 meters along route # Maximum depth: 1067.642568 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.021240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896095; longitude = -117.797391; captureRadius = 10; duration = 200; initialDepth = 1003.012362; finalDepth = 999.021240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.709018 # Actual altitude: 51.709018 # Commanded vehicle depth: 999.02124 # Seafloor depth: -1049.021240 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.84; 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 = 206.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.976577 meters # Minimum depth: 1053.012362 meters looking forward 100.000000 meters along route # Maximum depth: 1067.779654 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.012362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896604; longitude = -117.796509; captureRadius = 10; duration = 209; initialDepth = 1003.279048; finalDepth = 1003.012362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.767292 # Actual altitude: 64.767292 # Commanded vehicle depth: 1003.012362 # Seafloor depth: -1067.779654 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 259.07; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.91; MB_Bottom_Detect_Filter_Max_Range = 259.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 259.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.976134 meters # Minimum depth: 1053.279048 meters looking forward 100.000000 meters along route # Maximum depth: 1058.593753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.279048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897139; longitude = -117.795583; captureRadius = 10; duration = 209; initialDepth = 991.852328; finalDepth = 1003.279048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.767292 # Actual altitude: 64.767292 # Commanded vehicle depth: 1003.279048 # Seafloor depth: -1054.448867 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 259.07; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.91; MB_Bottom_Detect_Filter_Max_Range = 259.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 259.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.975690 meters # Minimum depth: 1041.852328 meters looking forward 100.000000 meters along route # Maximum depth: 1052.110695 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.852328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897673; longitude = -117.794656; captureRadius = 10; duration = 209; initialDepth = 986.804514; finalDepth = 991.852328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.2583670000001 # Actual altitude: 60.2583670000001 # Commanded vehicle depth: 991.852328 # Seafloor depth: -1052.110695 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 241.03; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.10; MB_Bottom_Detect_Filter_Max_Range = 241.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.975247 meters # Minimum depth: 1036.804514 meters looking forward 100.000000 meters along route # Maximum depth: 1043.360482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.804514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898208; longitude = -117.793730; captureRadius = 10; duration = 209; initialDepth = 986.281152; finalDepth = 986.804514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.2583670000001 # Actual altitude: 60.2583670000001 # Commanded vehicle depth: 986.804514 # Seafloor depth: -1043.360482 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 241.03; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.10; MB_Bottom_Detect_Filter_Max_Range = 241.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.974803 meters # Minimum depth: 1036.281152 meters looking forward 100.000000 meters along route # Maximum depth: 1038.755254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.281152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898743; longitude = -117.792804; captureRadius = 10; duration = 209; initialDepth = 985.052492; finalDepth = 986.281152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.5559680000001 # Actual altitude: 56.5559680000001 # Commanded vehicle depth: 986.281152 # Seafloor depth: -1036.715763 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 226.22; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.62; MB_Bottom_Detect_Filter_Max_Range = 226.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.974360 meters # Minimum depth: 1035.052492 meters looking forward 100.000000 meters along route # Maximum depth: 1037.660868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.052492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899277; longitude = -117.791877; captureRadius = 10; duration = 209; initialDepth = 988.031060; finalDepth = 985.052492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2232099999999 # Actual altitude: 51.2232099999999 # Commanded vehicle depth: 985.052492 # Seafloor depth: -1036.275702 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.89; 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 = 204.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.973917 meters # Minimum depth: 1038.031060 meters looking forward 100.000000 meters along route # Maximum depth: 1044.173379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.031060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899812; longitude = -117.790951; captureRadius = 10; duration = 209; initialDepth = 990.844519; finalDepth = 988.031060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2232099999999 # Actual altitude: 51.2232099999999 # Commanded vehicle depth: 988.03106 # Seafloor depth: -1038.031060 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.89; 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 = 204.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.973473 meters # Minimum depth: 1040.844519 meters looking forward 100.000000 meters along route # Maximum depth: 1043.346576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.844519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900347; longitude = -117.790024; captureRadius = 10; duration = 209; initialDepth = 989.314481; finalDepth = 990.844519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5020569999999 # Actual altitude: 52.5020569999999 # Commanded vehicle depth: 990.844519 # Seafloor depth: -1043.346576 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.01; 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 = 210.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.973029 meters # Minimum depth: 1039.314481 meters looking forward 100.000000 meters along route # Maximum depth: 1041.383947 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.314481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900881; longitude = -117.789098; captureRadius = 10; duration = 209; initialDepth = 989.863491; finalDepth = 989.314481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5020569999999 # Actual altitude: 52.5020569999999 # Commanded vehicle depth: 989.314481 # Seafloor depth: -1040.850651 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.01; 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 = 210.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.319862 meters # Minimum depth: 1039.863491 meters looking forward 100.000000 meters along route # Maximum depth: 1045.377673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.863491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901416; longitude = -117.788172; captureRadius = 10; duration = 212; initialDepth = 995.514547; finalDepth = 989.863491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5361700000001 # Actual altitude: 51.5361700000001 # Commanded vehicle depth: 989.863491 # Seafloor depth: -1039.863491 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.14; 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 = 206.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 103.624867 meters # Minimum depth: 1045.514547 meters looking forward 100.000000 meters along route # Maximum depth: 1049.259041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.514547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901957; longitude = -117.787234; captureRadius = 10; duration = 207; initialDepth = 993.371543; finalDepth = 995.514547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 995.514547 # Seafloor depth: -1045.514547 # 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 108.415836 meters # Minimum depth: 1043.371543 meters looking forward 100.000000 meters along route # Maximum depth: 1048.446631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.371543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902485; longitude = -117.786319; captureRadius = 10; duration = 216; initialDepth = 992.879960; finalDepth = 993.371543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0750880000001 # Actual altitude: 55.0750880000001 # Commanded vehicle depth: 993.371543 # Seafloor depth: -1048.446631 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.30; 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 = 220.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 101.527120 meters # Minimum depth: 1042.879960 meters looking forward 100.000000 meters along route # Maximum depth: 1043.687562 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.879960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903037; longitude = -117.785362; captureRadius = 10; duration = 203; initialDepth = 989.330747; finalDepth = 992.879960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0750880000001 # Actual altitude: 55.0750880000001 # Commanded vehicle depth: 992.87996 # Seafloor depth: -1043.400840 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.30; 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 = 220.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.970813 meters # Minimum depth: 1039.330747 meters looking forward 100.000000 meters along route # Maximum depth: 1044.015688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.330747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903554; longitude = -117.784466; captureRadius = 10; duration = 209; initialDepth = 984.788467; finalDepth = 989.330747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5959310000001 # Actual altitude: 54.5959310000001 # Commanded vehicle depth: 989.330747 # Seafloor depth: -1043.926678 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.38; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 218.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.970370 meters # Minimum depth: 1034.788467 meters looking forward 100.000000 meters along route # Maximum depth: 1040.030261 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.788467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904089; longitude = -117.783540; captureRadius = 10; duration = 209; initialDepth = 979.084515; finalDepth = 984.788467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.241794 # Actual altitude: 55.241794 # Commanded vehicle depth: 984.788467 # Seafloor depth: -1040.030261 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.97; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.10; MB_Bottom_Detect_Filter_Max_Range = 220.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.969926 meters # Minimum depth: 1029.084515 meters looking forward 100.000000 meters along route # Maximum depth: 1034.139594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.084515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904624; longitude = -117.782614; captureRadius = 10; duration = 209; initialDepth = 975.266433; finalDepth = 979.084515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.241794 # Actual altitude: 55.241794 # Commanded vehicle depth: 979.084515 # Seafloor depth: -1034.139594 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.97; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.10; MB_Bottom_Detect_Filter_Max_Range = 220.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.969483 meters # Minimum depth: 1025.266433 meters looking forward 100.000000 meters along route # Maximum depth: 1029.251537 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.266433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905158; longitude = -117.781687; captureRadius = 10; duration = 209; initialDepth = 973.564140; finalDepth = 975.266433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.055079 # Actual altitude: 55.055079 # Commanded vehicle depth: 975.266433 # Seafloor depth: -1029.251537 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.22; 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 = 220.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.969040 meters # Minimum depth: 1023.564140 meters looking forward 100.000000 meters along route # Maximum depth: 1025.723228 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.564140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905693; longitude = -117.780761; captureRadius = 10; duration = 209; initialDepth = 973.602519; finalDepth = 973.564140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9851040000001 # Actual altitude: 53.9851040000001 # Commanded vehicle depth: 973.56414 # Seafloor depth: -1025.723228 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 215.94; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.59; MB_Bottom_Detect_Filter_Max_Range = 215.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.968596 meters # Minimum depth: 1023.602519 meters looking forward 100.000000 meters along route # Maximum depth: 1024.902655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.602519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906227; longitude = -117.779835; captureRadius = 10; duration = 209; initialDepth = 973.190109; finalDepth = 973.602519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1590880000001 # Actual altitude: 52.1590880000001 # Commanded vehicle depth: 973.602519 # Seafloor depth: -1024.543082 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.64; 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 = 208.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.968153 meters # Minimum depth: 1023.190109 meters looking forward 100.000000 meters along route # Maximum depth: 1023.869830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.190109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906762; longitude = -117.778908; captureRadius = 10; duration = 209; initialDepth = 970.654470; finalDepth = 973.190109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9405629999999 # Actual altitude: 50.9405629999999 # Commanded vehicle depth: 973.190109 # Seafloor depth: -1023.869830 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.76; 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 = 203.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.967710 meters # Minimum depth: 1020.654470 meters looking forward 100.000000 meters along route # Maximum depth: 1023.195162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.654470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907297; longitude = -117.777982; captureRadius = 10; duration = 209; initialDepth = 968.796534; finalDepth = 970.654470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.428702 # Actual altitude: 52.428702 # Commanded vehicle depth: 970.65447 # Seafloor depth: -1023.083172 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.71; 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 = 209.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.967267 meters # Minimum depth: 1018.796534 meters looking forward 100.000000 meters along route # Maximum depth: 1020.552904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.796534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907831; longitude = -117.777056; captureRadius = 10; duration = 209; initialDepth = 967.176688; finalDepth = 968.796534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.428702 # Actual altitude: 52.428702 # Commanded vehicle depth: 968.796534 # Seafloor depth: -1020.552904 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.71; 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 = 209.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.966824 meters # Minimum depth: 1017.176688 meters looking forward 100.000000 meters along route # Maximum depth: 1018.552560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.176688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908366; longitude = -117.776129; captureRadius = 10; duration = 209; initialDepth = 963.475616; finalDepth = 967.176688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7563700000001 # Actual altitude: 51.7563700000001 # Commanded vehicle depth: 967.176688 # Seafloor depth: -1018.552560 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.03; 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 = 207.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.966380 meters # Minimum depth: 1013.475616 meters looking forward 100.000000 meters along route # Maximum depth: 1017.188560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.475616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908901; longitude = -117.775203; captureRadius = 10; duration = 209; initialDepth = 960.164586; finalDepth = 963.475616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7129440000001 # Actual altitude: 53.7129440000001 # Commanded vehicle depth: 963.475616 # Seafloor depth: -1017.188560 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.85; 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 = 214.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.893935 meters # Minimum depth: 1010.164586 meters looking forward 100.000000 meters along route # Maximum depth: 1013.157163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.164586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909435; longitude = -117.774276; captureRadius = 10; duration = 213; initialDepth = 958.664526; finalDepth = 960.164586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7129440000001 # Actual altitude: 53.7129440000001 # Commanded vehicle depth: 960.164586 # Seafloor depth: -1013.157163 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.85; 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 = 214.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 103.037497 meters # Minimum depth: 1008.664526 meters looking forward 100.000000 meters along route # Maximum depth: 1011.160491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.664526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909980; longitude = -117.773333; captureRadius = 10; duration = 206; initialDepth = 957.245667; finalDepth = 958.664526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.992577 # Actual altitude: 52.992577 # Commanded vehicle depth: 958.664526 # Seafloor depth: -1010.098957 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.97; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.20; MB_Bottom_Detect_Filter_Max_Range = 211.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 108.989771 meters # Minimum depth: 1007.245667 meters looking forward 100.000000 meters along route # Maximum depth: 1008.966379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.245667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910504; longitude = -117.772424; captureRadius = 10; duration = 217; initialDepth = 957.180607; finalDepth = 957.245667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.434431 # Actual altitude: 51.434431 # Commanded vehicle depth: 957.245667 # Seafloor depth: -1008.258375 # 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 17 # Segment length 100.939888 meters # Minimum depth: 1007.180607 meters looking forward 100.000000 meters along route # Maximum depth: 1008.093769 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.180607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911060; longitude = -117.771462; captureRadius = 10; duration = 201; initialDepth = 956.430702; finalDepth = 957.180607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.012708 # Actual altitude: 51.012708 # Commanded vehicle depth: 957.180607 # Seafloor depth: -1007.868576 # behavior reson { duration = 6; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.964164 meters # Minimum depth: 1006.430702 meters looking forward 100.000000 meters along route # Maximum depth: 1007.594394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.430702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911574; longitude = -117.770571; captureRadius = 10; duration = 209; initialDepth = 955.911986; finalDepth = 956.430702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.03779 # Actual altitude: 51.03779 # Commanded vehicle depth: 956.430702 # Seafloor depth: -1007.468492 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.15; 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 = 204.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.963722 meters # Minimum depth: 1005.911986 meters looking forward 100.000000 meters along route # Maximum depth: 1009.173816 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.911986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912108; longitude = -117.769645; captureRadius = 10; duration = 209; initialDepth = 958.703095; finalDepth = 955.911986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.03779 # Actual altitude: 51.03779 # Commanded vehicle depth: 955.911986 # Seafloor depth: -1005.911986 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.15; 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 = 204.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.963279 meters # Minimum depth: 1008.703095 meters looking forward 100.000000 meters along route # Maximum depth: 1011.743761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.703095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912643; longitude = -117.768718; captureRadius = 10; duration = 209; initialDepth = 960.202683; finalDepth = 958.703095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.018231 # Actual altitude: 50.018231 # Commanded vehicle depth: 958.703095 # Seafloor depth: -1008.721326 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.07; 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 = 200.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.962835 meters # Minimum depth: 1010.202683 meters looking forward 100.000000 meters along route # Maximum depth: 1016.535381 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.202683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913178; longitude = -117.767792; captureRadius = 10; duration = 209; initialDepth = 966.867608; finalDepth = 960.202683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.018231 # Actual altitude: 50.018231 # Commanded vehicle depth: 960.202683 # Seafloor depth: -1010.202683 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.07; 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 = 200.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.962393 meters # Minimum depth: 1016.867608 meters looking forward 100.000000 meters along route # Maximum depth: 1018.477149 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.867608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913712; longitude = -117.766866; captureRadius = 10; duration = 209; initialDepth = 969.202875; finalDepth = 966.867608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 966.867608 # Seafloor depth: -1016.867608 # 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 104.961949 meters # Minimum depth: 1019.202875 meters looking forward 100.000000 meters along route # Maximum depth: 1020.255634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.202875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914247; longitude = -117.765939; captureRadius = 10; duration = 209; initialDepth = 970.080430; finalDepth = 969.202875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 969.202875 # Seafloor depth: -1019.202875 # 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 104.961507 meters # Minimum depth: 1020.080430 meters looking forward 100.000000 meters along route # Maximum depth: 1021.185256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.080430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914782; longitude = -117.765013; captureRadius = 10; duration = 209; initialDepth = 970.918097; finalDepth = 970.080430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 970.08043 # Seafloor depth: -1020.080430 # 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 104.961063 meters # Minimum depth: 1020.918097 meters looking forward 100.000000 meters along route # Maximum depth: 1028.679277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.918097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915316; longitude = -117.764087; captureRadius = 10; duration = 209; initialDepth = 978.793696; finalDepth = 970.918097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 970.918097 # Seafloor depth: -1020.918097 # 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 104.960621 meters # Minimum depth: 1028.793696 meters looking forward 100.000000 meters along route # Maximum depth: 1034.160101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.793696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915851; longitude = -117.763160; captureRadius = 10; duration = 209; initialDepth = 985.906848; finalDepth = 978.793696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 978.793696 # Seafloor depth: -1028.793696 # 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 105.372202 meters # Minimum depth: 1035.906848 meters looking forward 100.000000 meters along route # Maximum depth: 1042.499113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.906848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916385; longitude = -117.762234; captureRadius = 10; duration = 210; initialDepth = 985.306560; finalDepth = 985.906848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 985.906848 # Seafloor depth: -1035.906848 # 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 104.547710 meters # Minimum depth: 1035.306560 meters looking forward 100.000000 meters along route # Maximum depth: 1041.791671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.306560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916922; longitude = -117.761304; captureRadius = 10; duration = 209; initialDepth = 980.901523; finalDepth = 985.306560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0264979999999 # Actual altitude: 55.0264979999999 # Commanded vehicle depth: 985.30656 # Seafloor depth: -1040.333058 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.11; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.01; MB_Bottom_Detect_Filter_Max_Range = 220.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.467937 meters # Minimum depth: 1030.901523 meters looking forward 100.000000 meters along route # Maximum depth: 1035.885931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.901523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917455; longitude = -117.760381; captureRadius = 10; duration = 214; initialDepth = 975.531413; finalDepth = 980.901523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0264979999999 # Actual altitude: 55.0264979999999 # Commanded vehicle depth: 980.901523 # Seafloor depth: -1035.785796 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.11; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.01; MB_Bottom_Detect_Filter_Max_Range = 220.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 102.450203 meters # Minimum depth: 1025.531413 meters looking forward 100.000000 meters along route # Maximum depth: 1030.672225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.531413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918002; longitude = -117.759433; captureRadius = 10; duration = 204; initialDepth = 967.467684; finalDepth = 975.531413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1408120000001 # Actual altitude: 55.1408120000001 # Commanded vehicle depth: 975.531413 # Seafloor depth: -1030.672225 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.56; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.06; MB_Bottom_Detect_Filter_Max_Range = 220.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 109.563637 meters # Minimum depth: 1017.467684 meters looking forward 100.000000 meters along route # Maximum depth: 1024.836924 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.467684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918524; longitude = -117.758529; captureRadius = 10; duration = 219; initialDepth = 961.455812; finalDepth = 967.467684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.36924 # Actual altitude: 57.36924 # Commanded vehicle depth: 967.467684 # Seafloor depth: -1024.836924 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 229.48; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.95; MB_Bottom_Detect_Filter_Max_Range = 229.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.352732 meters # Minimum depth: 1011.455812 meters looking forward 100.000000 meters along route # Maximum depth: 1017.201600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.455812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919082; longitude = -117.757562; captureRadius = 10; duration = 200; initialDepth = 955.257546; finalDepth = 961.455812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.36924 # Actual altitude: 57.36924 # Commanded vehicle depth: 961.455812 # Seafloor depth: -1017.201600 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 229.48; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.95; MB_Bottom_Detect_Filter_Max_Range = 229.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.957520 meters # Minimum depth: 1005.257546 meters looking forward 100.000000 meters along route # Maximum depth: 1011.499909 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.257546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919593; longitude = -117.756676; captureRadius = 10; duration = 209; initialDepth = 949.587633; finalDepth = 955.257546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.242363 # Actual altitude: 56.242363 # Commanded vehicle depth: 955.257546 # Seafloor depth: -1011.499909 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 224.97; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 224.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.957077 meters # Minimum depth: 999.587633 meters looking forward 100.000000 meters along route # Maximum depth: 1002.635319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.587633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920128; longitude = -117.755749; captureRadius = 10; duration = 209; initialDepth = 948.678859; finalDepth = 949.587633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.242363 # Actual altitude: 56.242363 # Commanded vehicle depth: 949.587633 # Seafloor depth: -1002.635319 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 224.97; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 224.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.956634 meters # Minimum depth: 998.678859 meters looking forward 100.000000 meters along route # Maximum depth: 1000.699425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.678859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920662; longitude = -117.754823; captureRadius = 10; duration = 209; initialDepth = 936.688601; finalDepth = 948.678859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.047686 # Actual altitude: 53.047686 # Commanded vehicle depth: 948.678859 # Seafloor depth: -999.650519 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.19; 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 = 212.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.956191 meters # Minimum depth: 986.688601 meters looking forward 100.000000 meters along route # Maximum depth: 997.837263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.688601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921197; longitude = -117.753897; captureRadius = 10; duration = 209; initialDepth = 934.052850; finalDepth = 936.688601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.1486620000001 # Actual altitude: 61.1486620000001 # Commanded vehicle depth: 936.688601 # Seafloor depth: -997.837263 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 244.59; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.46; MB_Bottom_Detect_Filter_Max_Range = 244.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 244.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.955749 meters # Minimum depth: 984.052850 meters looking forward 100.000000 meters along route # Maximum depth: 990.815090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.052850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921732; longitude = -117.752970; captureRadius = 10; duration = 209; initialDepth = 930.313520; finalDepth = 934.052850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.1486620000001 # Actual altitude: 61.1486620000001 # Commanded vehicle depth: 934.05285 # Seafloor depth: -985.996782 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 244.59; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.46; MB_Bottom_Detect_Filter_Max_Range = 244.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 244.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.955306 meters # Minimum depth: 980.313520 meters looking forward 100.000000 meters along route # Maximum depth: 991.881962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.313520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922266; longitude = -117.752044; captureRadius = 10; duration = 209; initialDepth = 928.848878; finalDepth = 930.313520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.110049 # Actual altitude: 53.110049 # Commanded vehicle depth: 930.31352 # Seafloor depth: -983.423569 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.44; 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 = 212.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 117.006556 meters # Minimum depth: 978.848878 meters looking forward 100.000000 meters along route # Maximum depth: 990.098137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.848878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922801; longitude = -117.751118; captureRadius = 10; duration = 234; initialDepth = 931.572924; finalDepth = 928.848878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 61.2492589999999 # Actual altitude: 61.2492589999999 # Commanded vehicle depth: 928.848878 # Seafloor depth: -990.098137 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 245.00; 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 = 245.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.00; 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 16 # Segment length 149.986888 meters # Minimum depth: 981.572924 meters looking forward 100.000000 meters along route # Maximum depth: 987.738297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.572924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.923397; longitude = -117.750085; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 920.541550; finalDepth = 931.572924; 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: 61.2492589999999 # Actual altitude: 61.2492589999999 # Commanded vehicle depth: 931.572924 # Seafloor depth: -987.738297 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 245.00; 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 = 245.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 107.636656 meters # Minimum depth: 970.541550 meters looking forward 100.000000 meters along route # Maximum depth: 980.871979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.541550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.922280; longitude = -117.749180; captureRadius = 10; duration = 215; # abortOnTimeout = True; initialDepth = 924.435798; finalDepth = 920.541550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.330429 # Actual altitude: 60.330429 # Commanded vehicle depth: 920.54155 # Seafloor depth: -980.871979 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 241.32; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.13; MB_Bottom_Detect_Filter_Max_Range = 241.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 104.957225 meters # Minimum depth: 974.435798 meters looking forward 100.000000 meters along route # Maximum depth: 1000.842313 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.435798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921732; longitude = -117.750130; captureRadius = 10; duration = 209; initialDepth = 942.123849; finalDepth = 924.435798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.330429 # Actual altitude: 60.330429 # Commanded vehicle depth: 924.435798 # Seafloor depth: -974.435798 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 241.32; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.13; MB_Bottom_Detect_Filter_Max_Range = 241.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.957667 meters # Minimum depth: 992.123849 meters looking forward 100.000000 meters along route # Maximum depth: 999.338224 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 942.123849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921197; longitude = -117.751056; captureRadius = 10; duration = 209; initialDepth = 939.909475; finalDepth = 942.123849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.214375 # Actual altitude: 57.214375 # Commanded vehicle depth: 942.123849 # Seafloor depth: -999.338224 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 228.86; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.89; MB_Bottom_Detect_Filter_Max_Range = 228.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.958110 meters # Minimum depth: 989.909475 meters looking forward 100.000000 meters along route # Maximum depth: 999.055761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.909475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920662; longitude = -117.751983; captureRadius = 10; duration = 209; initialDepth = 949.357385; finalDepth = 939.909475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.214375 # Actual altitude: 57.214375 # Commanded vehicle depth: 939.909475 # Seafloor depth: -993.672416 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 228.86; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.89; MB_Bottom_Detect_Filter_Max_Range = 228.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.958553 meters # Minimum depth: 999.357385 meters looking forward 100.000000 meters along route # Maximum depth: 1003.090122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.357385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920128; longitude = -117.752909; captureRadius = 10; duration = 209; initialDepth = 949.600223; finalDepth = 949.357385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.762941 # Actual altitude: 53.762941 # Commanded vehicle depth: 949.357385 # Seafloor depth: -1001.508615 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 215.05; 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 = 215.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.958996 meters # Minimum depth: 999.600223 meters looking forward 100.000000 meters along route # Maximum depth: 1004.810134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.600223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919593; longitude = -117.753835; captureRadius = 10; duration = 209; initialDepth = 955.384130; finalDepth = 949.600223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1512299999999 # Actual altitude: 52.1512299999999 # Commanded vehicle depth: 949.600223 # Seafloor depth: -999.600223 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.60; 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 = 208.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 105.199538 meters # Minimum depth: 1005.384130 meters looking forward 100.000000 meters along route # Maximum depth: 1010.580319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.384130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919059; longitude = -117.754762; captureRadius = 10; duration = 210; initialDepth = 960.601121; finalDepth = 955.384130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 955.38413 # Seafloor depth: -1005.384130 # 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 104.719782 meters # Minimum depth: 1010.601121 meters looking forward 100.000000 meters along route # Maximum depth: 1017.726494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.601121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918523; longitude = -117.755690; captureRadius = 10; duration = 209; initialDepth = 968.263533; finalDepth = 960.601121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 960.601121 # Seafloor depth: -1010.601121 # 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 107.293872 meters # Minimum depth: 1018.263533 meters looking forward 100.000000 meters along route # Maximum depth: 1023.274936 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.263533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917989; longitude = -117.756615; captureRadius = 10; duration = 214; initialDepth = 973.398438; finalDepth = 968.263533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 968.263533 # Seafloor depth: -1018.263533 # 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 102.627219 meters # Minimum depth: 1023.398438 meters looking forward 100.000000 meters along route # Maximum depth: 1029.022960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.398438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917443; longitude = -117.757562; captureRadius = 10; duration = 205; initialDepth = 979.779809; finalDepth = 973.398438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 973.398438 # Seafloor depth: -1023.398438 # 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 109.388242 meters # Minimum depth: 1029.779809 meters looking forward 100.000000 meters along route # Maximum depth: 1050.263283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.779809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916920; longitude = -117.758467; captureRadius = 10; duration = 218; initialDepth = 989.660334; finalDepth = 979.779809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 979.779809 # Seafloor depth: -1029.779809 # 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 100.534621 meters # Minimum depth: 1039.660334 meters looking forward 100.000000 meters along route # Maximum depth: 1051.348064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.660334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916363; longitude = -117.759433; captureRadius = 10; duration = 201; initialDepth = 987.889520; finalDepth = 989.660334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.6877300000001 # Actual altitude: 61.6877300000001 # Commanded vehicle depth: 989.660334 # Seafloor depth: -1051.348064 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 246.75; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.68; MB_Bottom_Detect_Filter_Max_Range = 246.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 246.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.962096 meters # Minimum depth: 1037.889520 meters looking forward 100.000000 meters along route # Maximum depth: 1042.589241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.889520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915851; longitude = -117.760320; captureRadius = 10; duration = 209; initialDepth = 985.610326; finalDepth = 987.889520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.6877300000001 # Actual altitude: 61.6877300000001 # Commanded vehicle depth: 987.88952 # Seafloor depth: -1040.208527 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 246.75; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.68; MB_Bottom_Detect_Filter_Max_Range = 246.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 246.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.962539 meters # Minimum depth: 1035.610326 meters looking forward 100.000000 meters along route # Maximum depth: 1036.989938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.610326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915316; longitude = -117.761246; captureRadius = 10; duration = 209; initialDepth = 979.703856; finalDepth = 985.610326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3190070000001 # Actual altitude: 52.3190070000001 # Commanded vehicle depth: 985.610326 # Seafloor depth: -1035.678158 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.28; 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 = 209.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.962982 meters # Minimum depth: 1029.703856 meters looking forward 100.000000 meters along route # Maximum depth: 1035.585871 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.703856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914782; longitude = -117.762173; captureRadius = 10; duration = 209; initialDepth = 975.147262; finalDepth = 979.703856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8820149999999 # Actual altitude: 55.8820149999999 # Commanded vehicle depth: 979.703856 # Seafloor depth: -1035.585871 # 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 15 # Segment length 104.963425 meters # Minimum depth: 1025.147262 meters looking forward 100.000000 meters along route # Maximum depth: 1028.877800 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.147262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914247; longitude = -117.763099; captureRadius = 10; duration = 209; initialDepth = 974.418778; finalDepth = 975.147262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8820149999999 # Actual altitude: 55.8820149999999 # Commanded vehicle depth: 975.147262 # Seafloor depth: -1028.877800 # 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 15 # Segment length 104.963868 meters # Minimum depth: 1024.418778 meters looking forward 100.000000 meters along route # Maximum depth: 1026.270770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.418778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913712; longitude = -117.764025; captureRadius = 10; duration = 209; initialDepth = 971.268428; finalDepth = 974.418778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.730538 # Actual altitude: 53.730538 # Commanded vehicle depth: 974.418778 # Seafloor depth: -1025.189475 # 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 15 # Segment length 104.964311 meters # Minimum depth: 1021.268428 meters looking forward 100.000000 meters along route # Maximum depth: 1024.675488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.268428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913178; longitude = -117.764952; captureRadius = 10; duration = 209; initialDepth = 967.946189; finalDepth = 971.268428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2202980000001 # Actual altitude: 53.2202980000001 # Commanded vehicle depth: 971.268428 # Seafloor depth: -1024.488726 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.88; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.29; MB_Bottom_Detect_Filter_Max_Range = 212.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.964754 meters # Minimum depth: 1017.946189 meters looking forward 100.000000 meters along route # Maximum depth: 1021.090049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.946189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912643; longitude = -117.765878; captureRadius = 10; duration = 209; initialDepth = 964.059158; finalDepth = 967.946189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2202980000001 # Actual altitude: 53.2202980000001 # Commanded vehicle depth: 967.946189 # Seafloor depth: -1021.090049 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.88; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.29; MB_Bottom_Detect_Filter_Max_Range = 212.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.965197 meters # Minimum depth: 1014.059158 meters looking forward 100.000000 meters along route # Maximum depth: 1016.983528 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.059158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912108; longitude = -117.766805; captureRadius = 10; duration = 209; initialDepth = 960.184747; finalDepth = 964.059158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.14386 # Actual altitude: 53.14386 # Commanded vehicle depth: 964.059158 # Seafloor depth: -1016.448425 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.58; 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 = 212.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.965639 meters # Minimum depth: 1010.184747 meters looking forward 100.000000 meters along route # Maximum depth: 1014.009840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.184747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911574; longitude = -117.767731; captureRadius = 10; duration = 209; initialDepth = 961.517906; finalDepth = 960.184747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.825093 # Actual altitude: 53.825093 # Commanded vehicle depth: 960.184747 # Seafloor depth: -1014.009840 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 215.30; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.53; MB_Bottom_Detect_Filter_Max_Range = 215.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 105.763181 meters # Minimum depth: 1011.517906 meters looking forward 100.000000 meters along route # Maximum depth: 1012.806065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.517906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911039; longitude = -117.768657; captureRadius = 10; duration = 211; initialDepth = 960.248850; finalDepth = 961.517906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.825093 # Actual altitude: 53.825093 # Commanded vehicle depth: 961.517906 # Seafloor depth: -1012.362884 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 215.30; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.53; MB_Bottom_Detect_Filter_Max_Range = 215.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.169429 meters # Minimum depth: 1010.248850 meters looking forward 100.000000 meters along route # Maximum depth: 1011.557378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.248850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910500; longitude = -117.769591; captureRadius = 10; duration = 208; initialDepth = 961.435342; finalDepth = 960.248850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.308528 # Actual altitude: 51.308528 # Commanded vehicle depth: 960.24885 # Seafloor depth: -1011.557378 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.23; 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 = 205.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.857652 meters # Minimum depth: 1011.435342 meters looking forward 100.000000 meters along route # Maximum depth: 1014.970033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.435342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909970; longitude = -117.770510; captureRadius = 10; duration = 215; initialDepth = 962.870107; finalDepth = 961.435342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.308528 # Actual altitude: 51.308528 # Commanded vehicle depth: 961.435342 # Seafloor depth: -1011.435342 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.23; 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 = 205.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 102.076729 meters # Minimum depth: 1012.870107 meters looking forward 100.000000 meters along route # Maximum depth: 1015.123519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.870107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909421; longitude = -117.771462; captureRadius = 10; duration = 204; initialDepth = 965.534737; finalDepth = 962.870107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.253412 # Actual altitude: 52.253412 # Commanded vehicle depth: 962.870107 # Seafloor depth: -1015.123519 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.01; 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 = 209.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.967856 meters # Minimum depth: 1015.534737 meters looking forward 100.000000 meters along route # Maximum depth: 1016.844631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.534737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908901; longitude = -117.772363; captureRadius = 10; duration = 209; initialDepth = 966.338928; finalDepth = 965.534737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.253412 # Actual altitude: 52.253412 # Commanded vehicle depth: 965.534737 # Seafloor depth: -1015.534737 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.01; 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 = 209.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.968298 meters # Minimum depth: 1016.338928 meters looking forward 100.000000 meters along route # Maximum depth: 1020.239624 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.338928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908366; longitude = -117.773289; captureRadius = 10; duration = 209; initialDepth = 969.782899; finalDepth = 966.338928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 966.338928 # Seafloor depth: -1016.338928 # 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 104.968742 meters # Minimum depth: 1019.782899 meters looking forward 100.000000 meters along route # Maximum depth: 1021.982433 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.782899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907831; longitude = -117.774215; captureRadius = 10; duration = 209; initialDepth = 972.774415; finalDepth = 969.782899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.240062 # Actual altitude: 50.240062 # Commanded vehicle depth: 969.782899 # Seafloor depth: -1020.022961 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.96; 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 = 200.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.969185 meters # Minimum depth: 1022.774415 meters looking forward 100.000000 meters along route # Maximum depth: 1024.596392 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.774415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907297; longitude = -117.775142; captureRadius = 10; duration = 209; initialDepth = 974.603688; finalDepth = 972.774415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.240062 # Actual altitude: 50.240062 # Commanded vehicle depth: 972.774415 # Seafloor depth: -1022.779088 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.96; 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 = 200.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.969628 meters # Minimum depth: 1024.603688 meters looking forward 100.000000 meters along route # Maximum depth: 1026.973617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.603688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906762; longitude = -117.776068; captureRadius = 10; duration = 209; initialDepth = 977.757826; finalDepth = 974.603688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.004673 # Actual altitude: 50.004673 # Commanded vehicle depth: 974.603688 # Seafloor depth: -1024.603688 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.02; 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 = 200.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.970071 meters # Minimum depth: 1027.757826 meters looking forward 100.000000 meters along route # Maximum depth: 1029.001247 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.757826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906227; longitude = -117.776995; captureRadius = 10; duration = 209; initialDepth = 978.622887; finalDepth = 977.757826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 977.757826 # Seafloor depth: -1027.757826 # 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 104.970515 meters # Minimum depth: 1028.622887 meters looking forward 100.000000 meters along route # Maximum depth: 1029.332905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.622887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905693; longitude = -117.777921; captureRadius = 10; duration = 209; initialDepth = 979.242193; finalDepth = 978.622887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0186530000001 # Actual altitude: 50.0186530000001 # Commanded vehicle depth: 978.622887 # Seafloor depth: -1028.641540 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.07; 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 = 200.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.970958 meters # Minimum depth: 1029.242193 meters looking forward 100.000000 meters along route # Maximum depth: 1030.259226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.242193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905158; longitude = -117.778847; captureRadius = 10; duration = 209; initialDepth = 980.120290; finalDepth = 979.242193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.085278 # Actual altitude: 50.085278 # Commanded vehicle depth: 979.242193 # Seafloor depth: -1029.327471 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.34; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.971401 meters # Minimum depth: 1030.120290 meters looking forward 100.000000 meters along route # Maximum depth: 1031.695621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.120290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904624; longitude = -117.779774; captureRadius = 10; duration = 209; initialDepth = 981.177495; finalDepth = 980.120290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1389379999998 # Actual altitude: 50.1389379999998 # Commanded vehicle depth: 980.12029 # Seafloor depth: -1030.259228 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.56; 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 = 200.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.971844 meters # Minimum depth: 1031.177495 meters looking forward 100.000000 meters along route # Maximum depth: 1033.083404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.177495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904089; longitude = -117.780700; captureRadius = 10; duration = 209; initialDepth = 983.124346; finalDepth = 981.177495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2289270000001 # Actual altitude: 50.2289270000001 # Commanded vehicle depth: 981.177495 # Seafloor depth: -1031.406422 # behavior reson { duration = 6; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.972287 meters # Minimum depth: 1033.124346 meters looking forward 100.000000 meters along route # Maximum depth: 1036.395626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.124346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903554; longitude = -117.781626; captureRadius = 10; duration = 209; initialDepth = 987.068868; finalDepth = 983.124346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2289270000001 # Actual altitude: 50.2289270000001 # Commanded vehicle depth: 983.124346 # Seafloor depth: -1033.124346 # behavior reson { duration = 6; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 106.326897 meters # Minimum depth: 1037.068868 meters looking forward 100.000000 meters along route # Maximum depth: 1044.548453 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.068868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903020; longitude = -117.782553; captureRadius = 10; duration = 212; initialDepth = 994.587253; finalDepth = 987.068868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 987.068868 # Seafloor depth: -1037.068868 # 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 103.619008 meters # Minimum depth: 1044.587253 meters looking forward 100.000000 meters along route # Maximum depth: 1048.195097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.587253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902478; longitude = -117.783491; captureRadius = 10; duration = 207; initialDepth = 997.218645; finalDepth = 994.587253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 994.587253 # Seafloor depth: -1044.587253 # 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 108.421507 meters # Minimum depth: 1047.218645 meters looking forward 100.000000 meters along route # Maximum depth: 1052.657122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.218645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901950; longitude = -117.784406; captureRadius = 10; duration = 216; initialDepth = 1001.484903; finalDepth = 997.218645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 997.218645 # Seafloor depth: -1047.218645 # 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 101.526172 meters # Minimum depth: 1051.484903 meters looking forward 100.000000 meters along route # Maximum depth: 1053.214438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.484903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901398; longitude = -117.785362; captureRadius = 10; duration = 203; initialDepth = 995.279619; finalDepth = 1001.484903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0877379999999 # Actual altitude: 51.0877379999999 # Commanded vehicle depth: 1001.484903 # Seafloor depth: -1052.572641 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.35; 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 = 204.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.974504 meters # Minimum depth: 1045.279619 meters looking forward 100.000000 meters along route # Maximum depth: 1051.189128 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.279619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900881; longitude = -117.786258; captureRadius = 10; duration = 209; initialDepth = 995.730797; finalDepth = 995.279619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9095090000001 # Actual altitude: 55.9095090000001 # Commanded vehicle depth: 995.279619 # Seafloor depth: -1051.189128 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 223.64; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.36; MB_Bottom_Detect_Filter_Max_Range = 223.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.974947 meters # Minimum depth: 1045.730797 meters looking forward 100.000000 meters along route # Maximum depth: 1048.721693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.730797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900347; longitude = -117.787185; captureRadius = 10; duration = 209; initialDepth = 995.463455; finalDepth = 995.730797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9095090000001 # Actual altitude: 55.9095090000001 # Commanded vehicle depth: 995.730797 # Seafloor depth: -1047.047831 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 223.64; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.36; MB_Bottom_Detect_Filter_Max_Range = 223.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.975391 meters # Minimum depth: 1045.463455 meters looking forward 100.000000 meters along route # Maximum depth: 1047.783525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.463455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899812; longitude = -117.788111; captureRadius = 10; duration = 209; initialDepth = 996.745075; finalDepth = 995.463455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3170340000001 # Actual altitude: 51.3170340000001 # Commanded vehicle depth: 995.463455 # Seafloor depth: -1046.052308 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.27; 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 = 205.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.975834 meters # Minimum depth: 1046.745075 meters looking forward 100.000000 meters along route # Maximum depth: 1050.715068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.745075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899277; longitude = -117.789037; captureRadius = 10; duration = 209; initialDepth = 985.665834; finalDepth = 996.745075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.689867 # Actual altitude: 51.689867 # Commanded vehicle depth: 996.745075 # Seafloor depth: -1048.434942 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.76; 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 = 206.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.976278 meters # Minimum depth: 1035.665834 meters looking forward 100.000000 meters along route # Maximum depth: 1045.694234 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.665834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898743; longitude = -117.789964; captureRadius = 10; duration = 209; initialDepth = 993.543280; finalDepth = 985.665834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.0284000000001 # Actual altitude: 60.0284000000001 # Commanded vehicle depth: 985.665834 # Seafloor depth: -1045.694234 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 240.11; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.01; MB_Bottom_Detect_Filter_Max_Range = 240.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.976721 meters # Minimum depth: 1043.543280 meters looking forward 100.000000 meters along route # Maximum depth: 1046.170216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.543280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898208; longitude = -117.790890; captureRadius = 10; duration = 209; initialDepth = 996.508261; finalDepth = 993.543280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.0284000000001 # Actual altitude: 60.0284000000001 # Commanded vehicle depth: 993.54328 # Seafloor depth: -1043.543280 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 240.11; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.01; MB_Bottom_Detect_Filter_Max_Range = 240.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.977164 meters # Minimum depth: 1046.508261 meters looking forward 100.000000 meters along route # Maximum depth: 1053.190653 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.508261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897673; longitude = -117.791816; captureRadius = 10; duration = 209; initialDepth = 1004.399974; finalDepth = 996.508261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 996.508261 # Seafloor depth: -1046.508261 # 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 104.977608 meters # Minimum depth: 1054.399974 meters looking forward 100.000000 meters along route # Maximum depth: 1057.297935 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.399974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897139; longitude = -117.792743; captureRadius = 10; duration = 209; initialDepth = 1000.456536; finalDepth = 1004.399974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0621190000002 # Actual altitude: 52.0621190000002 # Commanded vehicle depth: 1004.399974 # Seafloor depth: -1056.462093 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.25; 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 = 208.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.978052 meters # Minimum depth: 1050.456536 meters looking forward 100.000000 meters along route # Maximum depth: 1060.379747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.456536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896604; longitude = -117.793669; captureRadius = 10; duration = 209; initialDepth = 1007.646206; finalDepth = 1000.456536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.313249 # Actual altitude: 56.313249 # Commanded vehicle depth: 1000.456536 # Seafloor depth: -1056.769785 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 225.25; 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 = 225.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.978495 meters # Minimum depth: 1057.646206 meters looking forward 100.000000 meters along route # Maximum depth: 1067.774452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.646206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896069; longitude = -117.794596; captureRadius = 10; duration = 209; initialDepth = 1004.262936; finalDepth = 1007.646206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.313249 # Actual altitude: 56.313249 # Commanded vehicle depth: 1007.646206 # Seafloor depth: -1057.646206 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 225.25; 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 = 225.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 120.989912 meters # Minimum depth: 1054.262936 meters looking forward 100.000000 meters along route # Maximum depth: 1067.757166 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.262936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895535; longitude = -117.795522; captureRadius = 10; duration = 241; initialDepth = 1000.351551; finalDepth = 1004.262936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.49423 # Actual altitude: 63.49423 # Commanded vehicle depth: 1004.262936 # Seafloor depth: -1067.757166 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 253.98; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.40; MB_Bottom_Detect_Filter_Max_Range = 253.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 253.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 115.982944 meters # Minimum depth: 1050.351551 meters looking forward 100.000000 meters along route # Maximum depth: 1053.860706 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.351551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894919; longitude = -117.796590; captureRadius = 10; duration = 231; initialDepth = 1000.711198; finalDepth = 1000.351551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 63.49423 # Actual altitude: 63.49423 # Commanded vehicle depth: 1000.351551 # Seafloor depth: -1052.023446 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 253.98; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.40; MB_Bottom_Detect_Filter_Max_Range = 253.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 253.98; 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 150.056016 meters # Minimum depth: 1050.711198 meters looking forward 100.000000 meters along route # Maximum depth: 1052.370893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.711198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894328; longitude = -117.797613; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 1001.965971; finalDepth = 1000.711198; 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: 51.6718949999999 # Actual altitude: 51.6718949999999 # Commanded vehicle depth: 1000.711198 # Seafloor depth: -1051.222076 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 206.69; 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 = 206.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 88.879102 meters # Minimum depth: 1051.965971 meters looking forward 100.000000 meters along route # Maximum depth: 1054.984719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.965971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893211; longitude = -117.796707; captureRadius = 10; duration = 177; # abortOnTimeout = True; initialDepth = 1003.685368; finalDepth = 1001.965971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.510878 # Actual altitude: 50.510878 # Commanded vehicle depth: 1001.965971 # Seafloor depth: -1052.373199 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.04; 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 = 202.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 106.193014 meters # Minimum depth: 1053.685368 meters looking forward 100.000000 meters along route # Maximum depth: 1077.273198 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.685368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893664; longitude = -117.795923; captureRadius = 10; duration = 212; initialDepth = 1005.393578; finalDepth = 1003.685368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1422500000001 # Actual altitude: 53.1422500000001 # Commanded vehicle depth: 1003.685368 # Seafloor depth: -1056.827618 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.57; 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 = 212.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 103.766534 meters # Minimum depth: 1055.393578 meters looking forward 100.000000 meters along route # Maximum depth: 1060.273520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.393578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894204; longitude = -117.794986; captureRadius = 10; duration = 207; initialDepth = 1001.587209; finalDepth = 1005.393578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.879942 # Actual altitude: 54.879942 # Commanded vehicle depth: 1005.393578 # Seafloor depth: -1060.273520 # 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 13 # Segment length 108.285929 meters # Minimum depth: 1051.587209 meters looking forward 100.000000 meters along route # Maximum depth: 1054.449699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.587209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894733; longitude = -117.794070; captureRadius = 10; duration = 216; initialDepth = 1001.311874; finalDepth = 1001.587209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.879942 # Actual altitude: 54.879942 # Commanded vehicle depth: 1001.587209 # Seafloor depth: -1054.449699 # 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 13 # Segment length 101.671845 meters # Minimum depth: 1051.311874 meters looking forward 100.000000 meters along route # Maximum depth: 1052.371028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.311874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895284; longitude = -117.793114; captureRadius = 10; duration = 203; initialDepth = 1001.339986; finalDepth = 1001.311874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.86249 # Actual altitude: 52.86249 # Commanded vehicle depth: 1001.311874 # Seafloor depth: -1051.621530 # 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 = 21.14; 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 13 # Segment length 104.978222 meters # Minimum depth: 1051.339986 meters looking forward 100.000000 meters along route # Maximum depth: 1052.581083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.339986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895802; longitude = -117.792217; captureRadius = 10; duration = 209; initialDepth = 994.718934; finalDepth = 1001.339986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.373728 # Actual altitude: 50.373728 # Commanded vehicle depth: 1001.339986 # Seafloor depth: -1051.713714 # 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 13 # Segment length 104.977779 meters # Minimum depth: 1044.718934 meters looking forward 100.000000 meters along route # Maximum depth: 1051.824097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.718934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896337; longitude = -117.791291; captureRadius = 10; duration = 209; initialDepth = 985.619410; finalDepth = 994.718934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1051629999999 # Actual altitude: 57.1051629999999 # Commanded vehicle depth: 994.718934 # Seafloor depth: -1051.824097 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 228.42; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.84; MB_Bottom_Detect_Filter_Max_Range = 228.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 104.977335 meters # Minimum depth: 1035.619410 meters looking forward 100.000000 meters along route # Maximum depth: 1044.336504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.619410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896871; longitude = -117.790365; captureRadius = 10; duration = 209; initialDepth = 985.525589; finalDepth = 985.619410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.7170940000001 # Actual altitude: 58.7170940000001 # Commanded vehicle depth: 985.61941 # Seafloor depth: -1044.336504 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 234.87; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.49; MB_Bottom_Detect_Filter_Max_Range = 234.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 104.976892 meters # Minimum depth: 1035.525589 meters looking forward 100.000000 meters along route # Maximum depth: 1047.835521 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.525589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897406; longitude = -117.789438; captureRadius = 10; duration = 209; initialDepth = 998.357474; finalDepth = 985.525589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.7170940000001 # Actual altitude: 58.7170940000001 # Commanded vehicle depth: 985.525589 # Seafloor depth: -1035.525589 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 234.87; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.49; MB_Bottom_Detect_Filter_Max_Range = 234.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 104.976449 meters # Minimum depth: 1048.357474 meters looking forward 100.000000 meters along route # Maximum depth: 1049.438134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.357474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897941; longitude = -117.788512; captureRadius = 10; duration = 209; initialDepth = 998.332563; finalDepth = 998.357474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 998.357474 # Seafloor depth: -1048.357474 # 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 104.976005 meters # Minimum depth: 1048.332563 meters looking forward 100.000000 meters along route # Maximum depth: 1050.093159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.332563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898475; longitude = -117.787585; captureRadius = 10; duration = 209; initialDepth = 997.581825; finalDepth = 998.332563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 998.332563 # Seafloor depth: -1048.332563 # 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 104.975562 meters # Minimum depth: 1047.581825 meters looking forward 100.000000 meters along route # Maximum depth: 1049.785276 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.581825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899010; longitude = -117.786659; captureRadius = 10; duration = 209; initialDepth = 1000.917554; finalDepth = 997.581825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.524893 # Actual altitude: 51.524893 # Commanded vehicle depth: 997.581825 # Seafloor depth: -1049.106718 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.10; 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 = 206.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 104.975118 meters # Minimum depth: 1050.917554 meters looking forward 100.000000 meters along route # Maximum depth: 1053.122475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.917554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899545; longitude = -117.785733; captureRadius = 10; duration = 209; initialDepth = 1001.986582; finalDepth = 1000.917554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.524893 # Actual altitude: 51.524893 # Commanded vehicle depth: 1000.917554 # Seafloor depth: -1050.917554 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.10; 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 = 206.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 104.974676 meters # Minimum depth: 1051.986582 meters looking forward 100.000000 meters along route # Maximum depth: 1052.828572 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.986582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900079; longitude = -117.784806; captureRadius = 10; duration = 209; initialDepth = 999.296182; finalDepth = 1001.986582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1514279999999 # Actual altitude: 50.1514279999999 # Commanded vehicle depth: 1001.986582 # Seafloor depth: -1052.138010 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.61; 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 = 200.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 104.974231 meters # Minimum depth: 1049.296182 meters looking forward 100.000000 meters along route # Maximum depth: 1052.687987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.296182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900614; longitude = -117.783880; captureRadius = 10; duration = 209; initialDepth = 994.382803; finalDepth = 999.296182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.041363 # Actual altitude: 53.041363 # Commanded vehicle depth: 999.296182 # Seafloor depth: -1052.337545 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.17; 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 = 212.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 104.973789 meters # Minimum depth: 1044.382803 meters looking forward 100.000000 meters along route # Maximum depth: 1049.281693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.382803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901148; longitude = -117.782954; captureRadius = 10; duration = 209; initialDepth = 990.911196; finalDepth = 994.382803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8988899999999 # Actual altitude: 54.8988899999999 # Commanded vehicle depth: 994.382803 # Seafloor depth: -1049.281693 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 219.60; 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 = 219.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 106.743305 meters # Minimum depth: 1040.911196 meters looking forward 100.000000 meters along route # Maximum depth: 1043.783371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.911196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901683; longitude = -117.782027; captureRadius = 10; duration = 213; initialDepth = 987.459605; finalDepth = 990.911196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8988899999999 # Actual altitude: 54.8988899999999 # Commanded vehicle depth: 990.911196 # Seafloor depth: -1043.727310 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 219.60; 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 = 219.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 103.202943 meters # Minimum depth: 1037.459605 meters looking forward 100.000000 meters along route # Maximum depth: 1040.906131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.459605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902227; longitude = -117.781085; captureRadius = 10; duration = 206; initialDepth = 984.986210; finalDepth = 987.459605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4465259999999 # Actual altitude: 53.4465259999999 # Commanded vehicle depth: 987.459605 # Seafloor depth: -1040.906131 # 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 13 # Segment length 108.836083 meters # Minimum depth: 1034.986210 meters looking forward 100.000000 meters along route # Maximum depth: 1037.168991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.986210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902752; longitude = -117.780175; captureRadius = 10; duration = 217; initialDepth = 982.843309; finalDepth = 984.986210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4465259999999 # Actual altitude: 53.4465259999999 # Commanded vehicle depth: 984.98621 # Seafloor depth: -1037.168991 # 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 13 # Segment length 101.108391 meters # Minimum depth: 1032.843309 meters looking forward 100.000000 meters along route # Maximum depth: 1034.851383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.843309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903307; longitude = -117.779214; captureRadius = 10; duration = 202; initialDepth = 982.596535; finalDepth = 982.843309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.182781 # Actual altitude: 52.182781 # Commanded vehicle depth: 982.843309 # Seafloor depth: -1034.851383 # 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 13 # Segment length 104.971573 meters # Minimum depth: 1032.596535 meters looking forward 100.000000 meters along route # Maximum depth: 1033.653229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.596535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903822; longitude = -117.778322; captureRadius = 10; duration = 209; initialDepth = 983.545822; finalDepth = 982.596535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0080739999999 # Actual altitude: 52.0080739999999 # Commanded vehicle depth: 982.596535 # Seafloor depth: -1032.596535 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.03; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 208.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 104.971129 meters # Minimum depth: 1033.545822 meters looking forward 100.000000 meters along route # Maximum depth: 1034.615223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.545822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904356; longitude = -117.777395; captureRadius = 10; duration = 209; initialDepth = 979.278421; finalDepth = 983.545822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 983.545822 # Seafloor depth: -1033.545822 # 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 104.970686 meters # Minimum depth: 1029.278421 meters looking forward 100.000000 meters along route # Maximum depth: 1033.875406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.278421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904891; longitude = -117.776469; captureRadius = 10; duration = 209; initialDepth = 978.331223; finalDepth = 979.278421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5969850000001 # Actual altitude: 54.5969850000001 # Commanded vehicle depth: 979.278421 # Seafloor depth: -1033.875406 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.39; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 218.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 104.970243 meters # Minimum depth: 1028.331223 meters looking forward 100.000000 meters along route # Maximum depth: 1029.666894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.331223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905425; longitude = -117.775543; captureRadius = 10; duration = 209; initialDepth = 975.919515; finalDepth = 978.331223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5969850000001 # Actual altitude: 54.5969850000001 # Commanded vehicle depth: 978.331223 # Seafloor depth: -1029.666894 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.39; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 218.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 104.969800 meters # Minimum depth: 1025.919515 meters looking forward 100.000000 meters along route # Maximum depth: 1028.531466 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.919515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905960; longitude = -117.774616; captureRadius = 10; duration = 209; initialDepth = 973.080798; finalDepth = 975.919515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4472969999999 # Actual altitude: 52.4472969999999 # Commanded vehicle depth: 975.919515 # Seafloor depth: -1028.366812 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.79; 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 = 209.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 104.969356 meters # Minimum depth: 1023.080798 meters looking forward 100.000000 meters along route # Maximum depth: 1025.556785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.080798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906495; longitude = -117.773690; captureRadius = 10; duration = 209; initialDepth = 970.928369; finalDepth = 973.080798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.475987 # Actual altitude: 52.475987 # Commanded vehicle depth: 973.080798 # Seafloor depth: -1025.556785 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.90; 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 = 209.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 104.968914 meters # Minimum depth: 1020.928369 meters looking forward 100.000000 meters along route # Maximum depth: 1023.180573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.928369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907029; longitude = -117.772764; captureRadius = 10; duration = 209; initialDepth = 969.623395; finalDepth = 970.928369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.475987 # Actual altitude: 52.475987 # Commanded vehicle depth: 970.928369 # Seafloor depth: -1023.180573 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.90; 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 = 209.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 104.968470 meters # Minimum depth: 1019.623395 meters looking forward 100.000000 meters along route # Maximum depth: 1022.002616 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.623395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907564; longitude = -117.771837; captureRadius = 10; duration = 209; initialDepth = 969.141168; finalDepth = 969.623395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.252204 # Actual altitude: 52.252204 # Commanded vehicle depth: 969.623395 # Seafloor depth: -1020.245240 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.01; 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 = 209.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 104.968028 meters # Minimum depth: 1019.141168 meters looking forward 100.000000 meters along route # Maximum depth: 1020.822321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.141168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908099; longitude = -117.770911; captureRadius = 10; duration = 209; initialDepth = 966.668507; finalDepth = 969.141168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.095954 # Actual altitude: 51.095954 # Commanded vehicle depth: 969.141168 # Seafloor depth: -1020.237122 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.38; 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 = 204.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.200853 meters # Minimum depth: 1016.668507 meters looking forward 100.000000 meters along route # Maximum depth: 1020.838844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.668507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908633; longitude = -117.769985; captureRadius = 10; duration = 210; initialDepth = 966.676062; finalDepth = 966.668507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.170337 # Actual altitude: 54.170337 # Commanded vehicle depth: 966.668507 # Seafloor depth: -1020.838844 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.68; 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 = 216.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 104.733872 meters # Minimum depth: 1016.676062 meters looking forward 100.000000 meters along route # Maximum depth: 1017.420587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.676062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909169; longitude = -117.769056; captureRadius = 10; duration = 209; initialDepth = 965.679973; finalDepth = 966.676062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.170337 # Actual altitude: 54.170337 # Commanded vehicle depth: 966.676062 # Seafloor depth: -1016.676062 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.68; 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 = 216.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.293530 meters # Minimum depth: 1015.679973 meters looking forward 100.000000 meters along route # Maximum depth: 1017.822282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.679973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909703; longitude = -117.768132; captureRadius = 10; duration = 214; initialDepth = 967.875136; finalDepth = 965.679973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.800309 # Actual altitude: 50.800309 # Commanded vehicle depth: 965.679973 # Seafloor depth: -1016.480282 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.20; 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 = 203.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 102.639424 meters # Minimum depth: 1017.875136 meters looking forward 100.000000 meters along route # Maximum depth: 1020.859751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.875136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910249; longitude = -117.767185; captureRadius = 10; duration = 205; initialDepth = 970.131799; finalDepth = 967.875136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.800309 # Actual altitude: 50.800309 # Commanded vehicle depth: 967.875136 # Seafloor depth: -1017.875136 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.20; 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 = 203.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 109.386170 meters # Minimum depth: 1020.131799 meters looking forward 100.000000 meters along route # Maximum depth: 1022.603278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.131799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910772; longitude = -117.766279; captureRadius = 10; duration = 218; initialDepth = 972.764470; finalDepth = 970.131799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.316198 # Actual altitude: 50.316198 # Commanded vehicle depth: 970.131799 # Seafloor depth: -1020.447997 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.26; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.545011 meters # Minimum depth: 1022.764470 meters looking forward 100.000000 meters along route # Maximum depth: 1024.771404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.764470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911329; longitude = -117.765314; captureRadius = 10; duration = 201; initialDepth = 975.287405; finalDepth = 972.764470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.316198 # Actual altitude: 50.316198 # Commanded vehicle depth: 972.76447 # Seafloor depth: -1022.764470 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.26; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 104.964926 meters # Minimum depth: 1025.287405 meters looking forward 100.000000 meters along route # Maximum depth: 1030.492220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.287405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911841; longitude = -117.764426; captureRadius = 10; duration = 209; initialDepth = 980.956095; finalDepth = 975.287405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 975.287405 # Seafloor depth: -1025.287405 # 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 104.964483 meters # Minimum depth: 1030.956095 meters looking forward 100.000000 meters along route # Maximum depth: 1037.061294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.956095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912376; longitude = -117.763500; captureRadius = 10; duration = 209; initialDepth = 986.977215; finalDepth = 980.956095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 980.956095 # Seafloor depth: -1030.956095 # 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 104.964041 meters # Minimum depth: 1036.977215 meters looking forward 100.000000 meters along route # Maximum depth: 1037.755895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.977215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912910; longitude = -117.762574; captureRadius = 10; duration = 209; initialDepth = 989.360971; finalDepth = 986.977215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 986.977215 # Seafloor depth: -1036.977215 # 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 104.963597 meters # Minimum depth: 1039.360971 meters looking forward 100.000000 meters along route # Maximum depth: 1042.985564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.360971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913445; longitude = -117.761647; captureRadius = 10; duration = 209; initialDepth = 993.100160; finalDepth = 989.360971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 989.360971 # Seafloor depth: -1039.360971 # 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 104.963154 meters # Minimum depth: 1043.100160 meters looking forward 100.000000 meters along route # Maximum depth: 1046.300751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.100160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913980; longitude = -117.760721; captureRadius = 10; duration = 209; initialDepth = 996.247901; finalDepth = 993.100160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 993.10016 # Seafloor depth: -1043.100160 # 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 104.962712 meters # Minimum depth: 1046.247901 meters looking forward 100.000000 meters along route # Maximum depth: 1050.164492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.247901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914514; longitude = -117.759794; captureRadius = 10; duration = 209; initialDepth = 991.498436; finalDepth = 996.247901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 996.247901 # Seafloor depth: -1046.247901 # 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 104.962268 meters # Minimum depth: 1041.498436 meters looking forward 100.000000 meters along route # Maximum depth: 1050.079518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.498436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915049; longitude = -117.758868; captureRadius = 10; duration = 209; initialDepth = 981.385462; finalDepth = 991.498436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.5810819999999 # Actual altitude: 58.5810819999999 # Commanded vehicle depth: 991.498436 # Seafloor depth: -1050.079518 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 234.32; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.43; MB_Bottom_Detect_Filter_Max_Range = 234.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 104.961826 meters # Minimum depth: 1031.385462 meters looking forward 100.000000 meters along route # Maximum depth: 1039.949333 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.385462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915583; longitude = -117.757942; captureRadius = 10; duration = 209; initialDepth = 975.859772; finalDepth = 981.385462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.5810819999999 # Actual altitude: 58.5810819999999 # Commanded vehicle depth: 981.385462 # Seafloor depth: -1039.949333 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 234.32; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.43; MB_Bottom_Detect_Filter_Max_Range = 234.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 104.961383 meters # Minimum depth: 1025.859772 meters looking forward 100.000000 meters along route # Maximum depth: 1031.273123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.859772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916118; longitude = -117.757015; captureRadius = 10; duration = 209; initialDepth = 967.000225; finalDepth = 975.859772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.5638710000001 # Actual altitude: 58.5638710000001 # Commanded vehicle depth: 975.859772 # Seafloor depth: -1031.273123 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 234.26; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.43; MB_Bottom_Detect_Filter_Max_Range = 234.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.751147 meters # Minimum depth: 1017.000225 meters looking forward 100.000000 meters along route # Maximum depth: 1025.109344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.000225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916653; longitude = -117.756089; captureRadius = 10; duration = 211; initialDepth = 961.761019; finalDepth = 967.000225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.109119 # Actual altitude: 58.109119 # Commanded vehicle depth: 967.000225 # Seafloor depth: -1025.109344 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 232.44; 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 = 232.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 104.170290 meters # Minimum depth: 1011.761019 meters looking forward 100.000000 meters along route # Maximum depth: 1016.931473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.761019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917191; longitude = -117.755156; captureRadius = 10; duration = 208; initialDepth = 955.834586; finalDepth = 961.761019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.109119 # Actual altitude: 58.109119 # Commanded vehicle depth: 961.761019 # Seafloor depth: -1016.931473 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 232.44; 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 = 232.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.843687 meters # Minimum depth: 1005.834586 meters looking forward 100.000000 meters along route # Maximum depth: 1010.749417 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.834586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917722; longitude = -117.754236; captureRadius = 10; duration = 215; initialDepth = 953.160857; finalDepth = 955.834586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1704539999999 # Actual altitude: 55.1704539999999 # Commanded vehicle depth: 955.834586 # Seafloor depth: -1010.749417 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.68; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 102.075979 meters # Minimum depth: 1003.160857 meters looking forward 100.000000 meters along route # Maximum depth: 1007.237536 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.160857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918271; longitude = -117.753284; captureRadius = 10; duration = 204; initialDepth = 945.388284; finalDepth = 953.160857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.914831 # Actual altitude: 54.914831 # Commanded vehicle depth: 953.160857 # Seafloor depth: -1005.476658 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 219.66; 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 = 219.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 109.936191 meters # Minimum depth: 995.388284 meters looking forward 100.000000 meters along route # Maximum depth: 1002.624461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.388284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918791; longitude = -117.752384; captureRadius = 10; duration = 219; initialDepth = 944.611634; finalDepth = 945.388284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.236177 # Actual altitude: 57.236177 # Commanded vehicle depth: 945.388284 # Seafloor depth: -1002.624461 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 228.94; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.89; MB_Bottom_Detect_Filter_Max_Range = 228.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 121.149000 meters # Minimum depth: 994.611634 meters looking forward 100.000000 meters along route # Maximum depth: 1006.810655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.611634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919351; longitude = -117.751413; captureRadius = 10; duration = 242; initialDepth = 938.325382; finalDepth = 944.611634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.236177 # Actual altitude: 57.236177 # Commanded vehicle depth: 944.611634 # Seafloor depth: -994.611634 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 228.94; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.89; MB_Bottom_Detect_Filter_Max_Range = 228.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 121.148410 meters # Minimum depth: 988.325382 meters looking forward 100.000000 meters along route # Maximum depth: 1008.385085 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.325382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919968; longitude = -117.750344; captureRadius = 10; duration = 242; initialDepth = 927.797720; finalDepth = 938.325382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.018652 # Actual altitude: 70.018652 # Commanded vehicle depth: 938.325382 # Seafloor depth: -1008.344034 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 280.07; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.01; MB_Bottom_Detect_Filter_Max_Range = 280.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 113.386949 meters # Minimum depth: 977.797720 meters looking forward 100.000000 meters along route # Maximum depth: 987.634163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.797720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920585; longitude = -117.749275; captureRadius = 10; duration = 226; initialDepth = 918.266385; finalDepth = 927.797720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 70.018652 # Actual altitude: 70.018652 # Commanded vehicle depth: 927.79772 # Seafloor depth: -978.073577 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 280.07; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.01; MB_Bottom_Detect_Filter_Max_Range = 280.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.07; 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 149.896486 meters # Minimum depth: 968.266385 meters looking forward 100.000000 meters along route # Maximum depth: 991.775780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.266385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.921163; longitude = -117.748274; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 927.245375; finalDepth = 918.266385; 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: 68.659076 # Actual altitude: 68.659076 # Commanded vehicle depth: 918.266385 # Seafloor depth: -986.925461 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 274.64; 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 = 274.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 89.089051 meters # Minimum depth: 977.245375 meters looking forward 100.000000 meters along route # Maximum depth: 991.775780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.245375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.920047; longitude = -117.747369; captureRadius = 10; duration = 178; # abortOnTimeout = True; initialDepth = 932.587394; finalDepth = 927.245375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.659076 # Actual altitude: 68.659076 # Commanded vehicle depth: 927.245375 # Seafloor depth: -985.534470 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 274.64; 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 = 274.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.957423 meters # Minimum depth: 982.587394 meters looking forward 100.000000 meters along route # Maximum depth: 991.928115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.587394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919593; longitude = -117.748155; captureRadius = 10; duration = 209; initialDepth = 935.681377; finalDepth = 932.587394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.2890950000001 # Actual altitude: 58.2890950000001 # Commanded vehicle depth: 932.587394 # Seafloor depth: -982.825148 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 233.16; 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 = 233.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.957866 meters # Minimum depth: 985.681377 meters looking forward 100.000000 meters along route # Maximum depth: 990.705465 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.681377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.919059; longitude = -117.749082; captureRadius = 10; duration = 209; initialDepth = 947.136895; finalDepth = 935.681377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.024088 # Actual altitude: 55.024088 # Commanded vehicle depth: 935.681377 # Seafloor depth: -990.705465 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.10; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.01; MB_Bottom_Detect_Filter_Max_Range = 220.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.958309 meters # Minimum depth: 997.136895 meters looking forward 100.000000 meters along route # Maximum depth: 1000.632325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.136895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918524; longitude = -117.750008; captureRadius = 10; duration = 209; initialDepth = 951.886954; finalDepth = 947.136895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.024088 # Actual altitude: 55.024088 # Commanded vehicle depth: 947.136895 # Seafloor depth: -997.136895 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.10; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.01; MB_Bottom_Detect_Filter_Max_Range = 220.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.958751 meters # Minimum depth: 1001.886954 meters looking forward 100.000000 meters along route # Maximum depth: 1013.016237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.886954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917989; longitude = -117.750934; captureRadius = 10; duration = 209; initialDepth = 962.803868; finalDepth = 951.886954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 951.886954 # Seafloor depth: -1001.886954 # 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 104.959194 meters # Minimum depth: 1012.803868 meters looking forward 100.000000 meters along route # Maximum depth: 1014.764296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.803868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917455; longitude = -117.751861; captureRadius = 10; duration = 209; initialDepth = 962.300177; finalDepth = 962.803868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5247800000001 # Actual altitude: 50.5247800000001 # Commanded vehicle depth: 962.803868 # Seafloor depth: -1013.328648 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.10; 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 = 202.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.959637 meters # Minimum depth: 1012.300177 meters looking forward 100.000000 meters along route # Maximum depth: 1021.584375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.300177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916920; longitude = -117.752787; captureRadius = 10; duration = 209; initialDepth = 968.127174; finalDepth = 962.300177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5247800000001 # Actual altitude: 50.5247800000001 # Commanded vehicle depth: 962.300177 # Seafloor depth: -1012.300177 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.10; 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 = 202.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.960080 meters # Minimum depth: 1018.127174 meters looking forward 100.000000 meters along route # Maximum depth: 1026.259694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.127174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916385; longitude = -117.753713; captureRadius = 10; duration = 209; initialDepth = 976.323791; finalDepth = 968.127174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 968.127174 # Seafloor depth: -1018.127174 # 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 104.960522 meters # Minimum depth: 1026.323791 meters looking forward 100.000000 meters along route # Maximum depth: 1033.674251 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.323791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915851; longitude = -117.754640; captureRadius = 10; duration = 209; initialDepth = 984.812696; finalDepth = 976.323791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 976.323791 # Seafloor depth: -1026.323791 # 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 104.960965 meters # Minimum depth: 1034.812696 meters looking forward 100.000000 meters along route # Maximum depth: 1043.855883 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.812696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915316; longitude = -117.755566; captureRadius = 10; duration = 209; initialDepth = 993.857521; finalDepth = 984.812696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 984.812696 # Seafloor depth: -1034.812696 # 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 104.961408 meters # Minimum depth: 1043.857521 meters looking forward 100.000000 meters along route # Maximum depth: 1053.724612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.857521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914782; longitude = -117.756492; captureRadius = 10; duration = 209; initialDepth = 1002.190447; finalDepth = 993.857521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 993.857521 # Seafloor depth: -1043.857521 # 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 107.044355 meters # Minimum depth: 1052.190447 meters looking forward 100.000000 meters along route # Maximum depth: 1056.172728 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.190447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914247; longitude = -117.757419; captureRadius = 10; duration = 214; initialDepth = 1001.419956; finalDepth = 1002.190447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6380650000001 # Actual altitude: 52.6380650000001 # Commanded vehicle depth: 1002.190447 # Seafloor depth: -1054.828512 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.55; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.06; MB_Bottom_Detect_Filter_Max_Range = 210.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.879790 meters # Minimum depth: 1051.419956 meters looking forward 100.000000 meters along route # Maximum depth: 1052.254289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.419956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913702; longitude = -117.758363; captureRadius = 10; duration = 205; initialDepth = 998.736471; finalDepth = 1001.419956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6380650000001 # Actual altitude: 52.6380650000001 # Commanded vehicle depth: 1001.419956 # Seafloor depth: -1052.204937 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.55; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.06; MB_Bottom_Detect_Filter_Max_Range = 210.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 109.143130 meters # Minimum depth: 1048.736471 meters looking forward 100.000000 meters along route # Maximum depth: 1050.804168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.736471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913178; longitude = -117.759271; captureRadius = 10; duration = 218; initialDepth = 998.053005; finalDepth = 998.736471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7666810000001 # Actual altitude: 51.7666810000001 # Commanded vehicle depth: 998.736471 # Seafloor depth: -1050.503152 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.07; 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 = 207.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.782786 meters # Minimum depth: 1048.053005 meters looking forward 100.000000 meters along route # Maximum depth: 1049.590601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.053005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912622; longitude = -117.760235; captureRadius = 10; duration = 201; initialDepth = 994.043504; finalDepth = 998.053005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7666810000001 # Actual altitude: 51.7666810000001 # Commanded vehicle depth: 998.053005 # Seafloor depth: -1048.510360 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.07; 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 = 207.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.963623 meters # Minimum depth: 1044.043504 meters looking forward 100.000000 meters along route # Maximum depth: 1047.693158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.043504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912108; longitude = -117.761124; captureRadius = 10; duration = 209; initialDepth = 987.119286; finalDepth = 994.043504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6496540000001 # Actual altitude: 53.6496540000001 # Commanded vehicle depth: 994.043504 # Seafloor depth: -1047.693158 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.60; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 214.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.964065 meters # Minimum depth: 1037.119286 meters looking forward 100.000000 meters along route # Maximum depth: 1042.485499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.119286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911574; longitude = -117.762050; captureRadius = 10; duration = 209; initialDepth = 983.582681; finalDepth = 987.119286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3662129999998 # Actual altitude: 55.3662129999998 # Commanded vehicle depth: 987.119286 # Seafloor depth: -1042.485499 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.46; 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 = 221.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.964508 meters # Minimum depth: 1033.582681 meters looking forward 100.000000 meters along route # Maximum depth: 1036.678872 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.582681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911039; longitude = -117.762977; captureRadius = 10; duration = 209; initialDepth = 979.571848; finalDepth = 983.582681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3662129999998 # Actual altitude: 55.3662129999998 # Commanded vehicle depth: 983.582681 # Seafloor depth: -1036.678872 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.46; 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 = 221.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.964952 meters # Minimum depth: 1029.571848 meters looking forward 100.000000 meters along route # Maximum depth: 1032.573639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.571848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910504; longitude = -117.763903; captureRadius = 10; duration = 209; initialDepth = 975.796895; finalDepth = 979.571848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0961909999999 # Actual altitude: 53.0961909999999 # Commanded vehicle depth: 979.571848 # Seafloor depth: -1032.573639 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.38; 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 = 212.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.965394 meters # Minimum depth: 1025.796895 meters looking forward 100.000000 meters along route # Maximum depth: 1028.975644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.796895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909970; longitude = -117.764830; captureRadius = 10; duration = 209; initialDepth = 974.507370; finalDepth = 975.796895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1787490000002 # Actual altitude: 53.1787490000002 # Commanded vehicle depth: 975.796895 # Seafloor depth: -1028.975644 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.71; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 212.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.965837 meters # Minimum depth: 1024.507370 meters looking forward 100.000000 meters along route # Maximum depth: 1025.995051 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.507370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909435; longitude = -117.765756; captureRadius = 10; duration = 209; initialDepth = 973.895126; finalDepth = 974.507370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1787490000002 # Actual altitude: 53.1787490000002 # Commanded vehicle depth: 974.50737 # Seafloor depth: -1025.656527 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.71; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 212.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.966280 meters # Minimum depth: 1023.895126 meters looking forward 100.000000 meters along route # Maximum depth: 1025.731352 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.895126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908901; longitude = -117.766682; captureRadius = 10; duration = 209; initialDepth = 973.819915; finalDepth = 973.895126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.836226 # Actual altitude: 51.836226 # Commanded vehicle depth: 973.895126 # Seafloor depth: -1025.731352 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.34; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.966724 meters # Minimum depth: 1023.819915 meters looking forward 100.000000 meters along route # Maximum depth: 1026.610824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.819915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908366; longitude = -117.767609; captureRadius = 10; duration = 209; initialDepth = 974.083812; finalDepth = 973.819915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.836226 # Actual altitude: 51.836226 # Commanded vehicle depth: 973.819915 # Seafloor depth: -1024.912379 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.34; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.967166 meters # Minimum depth: 1024.083812 meters looking forward 100.000000 meters along route # Maximum depth: 1027.479372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.083812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907831; longitude = -117.768535; captureRadius = 10; duration = 209; initialDepth = 975.906606; finalDepth = 974.083812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.393098 # Actual altitude: 52.393098 # Commanded vehicle depth: 974.083812 # Seafloor depth: -1026.476910 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.57; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.541769 meters # Minimum depth: 1025.906606 meters looking forward 100.000000 meters along route # Maximum depth: 1027.103998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.906606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907297; longitude = -117.769461; captureRadius = 10; duration = 211; initialDepth = 976.403686; finalDepth = 975.906606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.393098 # Actual altitude: 52.393098 # Commanded vehicle depth: 975.906606 # Seafloor depth: -1026.428736 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.57; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.393892 meters # Minimum depth: 1026.403686 meters looking forward 100.000000 meters along route # Maximum depth: 1028.190441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.403686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906759; longitude = -117.770393; captureRadius = 10; duration = 208; initialDepth = 977.847176; finalDepth = 976.403686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6977099999999 # Actual altitude: 50.6977099999999 # Commanded vehicle depth: 976.403686 # Seafloor depth: -1027.101396 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.79; 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 = 202.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.640648 meters # Minimum depth: 1027.847176 meters looking forward 100.000000 meters along route # Maximum depth: 1029.802929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.847176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906227; longitude = -117.771314; captureRadius = 10; duration = 215; initialDepth = 979.638633; finalDepth = 977.847176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6977099999999 # Actual altitude: 50.6977099999999 # Commanded vehicle depth: 977.847176 # Seafloor depth: -1027.847176 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.79; 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 = 202.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.296786 meters # Minimum depth: 1029.638633 meters looking forward 100.000000 meters along route # Maximum depth: 1032.894462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.638633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905679; longitude = -117.772264; captureRadius = 10; duration = 204; initialDepth = 983.390038; finalDepth = 979.638633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.074521 # Actual altitude: 50.074521 # Commanded vehicle depth: 979.638633 # Seafloor depth: -1029.713154 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.30; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 109.739562 meters # Minimum depth: 1033.390038 meters looking forward 100.000000 meters along route # Maximum depth: 1035.259928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.390038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905158; longitude = -117.773167; captureRadius = 10; duration = 219; initialDepth = 985.207257; finalDepth = 983.390038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.074521 # Actual altitude: 50.074521 # Commanded vehicle depth: 983.390038 # Seafloor depth: -1033.390038 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.30; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.199644 meters # Minimum depth: 1035.207257 meters looking forward 100.000000 meters along route # Maximum depth: 1038.143192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.207257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904599; longitude = -117.774135; captureRadius = 10; duration = 200; initialDepth = 988.677950; finalDepth = 985.207257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 985.207257 # Seafloor depth: -1035.207257 # 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 104.970268 meters # Minimum depth: 1038.677950 meters looking forward 100.000000 meters along route # Maximum depth: 1040.285938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.677950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904089; longitude = -117.775019; captureRadius = 10; duration = 209; initialDepth = 990.064553; finalDepth = 988.677950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 988.67795 # Seafloor depth: -1038.677950 # 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 104.970711 meters # Minimum depth: 1040.064553 meters looking forward 100.000000 meters along route # Maximum depth: 1041.318790 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.064553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903554; longitude = -117.775946; captureRadius = 10; duration = 209; initialDepth = 990.272692; finalDepth = 990.064553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.194137 # Actual altitude: 50.194137 # Commanded vehicle depth: 990.064553 # Seafloor depth: -1040.258690 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.78; 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 = 200.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.971154 meters # Minimum depth: 1040.272692 meters looking forward 100.000000 meters along route # Maximum depth: 1041.124727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.272692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903020; longitude = -117.776872; captureRadius = 10; duration = 209; initialDepth = 991.356307; finalDepth = 990.272692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.836526 # Actual altitude: 50.836526 # Commanded vehicle depth: 990.272692 # Seafloor depth: -1041.109218 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.35; 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 = 203.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.971597 meters # Minimum depth: 1041.356307 meters looking forward 100.000000 meters along route # Maximum depth: 1042.116614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.356307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902485; longitude = -117.777798; captureRadius = 10; duration = 209; initialDepth = 991.892504; finalDepth = 991.356307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.836526 # Actual altitude: 50.836526 # Commanded vehicle depth: 991.356307 # Seafloor depth: -1041.356307 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.35; 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 = 203.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.972041 meters # Minimum depth: 1041.892504 meters looking forward 100.000000 meters along route # Maximum depth: 1043.827764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.892504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901950; longitude = -117.778725; captureRadius = 10; duration = 209; initialDepth = 995.027533; finalDepth = 991.892504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 991.892504 # Seafloor depth: -1041.892504 # 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 104.972483 meters # Minimum depth: 1045.027533 meters looking forward 100.000000 meters along route # Maximum depth: 1047.988575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.027533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901416; longitude = -117.779651; captureRadius = 10; duration = 209; initialDepth = 998.132115; finalDepth = 995.027533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 995.027533 # Seafloor depth: -1045.027533 # 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 104.972927 meters # Minimum depth: 1048.132115 meters looking forward 100.000000 meters along route # Maximum depth: 1050.241817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.132115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900881; longitude = -117.780577; captureRadius = 10; duration = 209; initialDepth = 1000.440701; finalDepth = 998.132115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 998.132115 # Seafloor depth: -1048.132115 # 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 104.973370 meters # Minimum depth: 1050.440701 meters looking forward 100.000000 meters along route # Maximum depth: 1052.309189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.440701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900347; longitude = -117.781504; captureRadius = 10; duration = 209; initialDepth = 1002.319477; finalDepth = 1000.440701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.243829 # Actual altitude: 50.243829 # Commanded vehicle depth: 1000.440701 # Seafloor depth: -1050.684530 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.98; 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 = 200.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.973814 meters # Minimum depth: 1052.319477 meters looking forward 100.000000 meters along route # Maximum depth: 1056.119996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.319477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899812; longitude = -117.782430; captureRadius = 10; duration = 209; initialDepth = 1006.381878; finalDepth = 1002.319477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.243829 # Actual altitude: 50.243829 # Commanded vehicle depth: 1002.319477 # Seafloor depth: -1052.319477 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.98; 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 = 200.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 106.138002 meters # Minimum depth: 1056.381878 meters looking forward 100.000000 meters along route # Maximum depth: 1058.691494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.381878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899277; longitude = -117.783356; captureRadius = 10; duration = 212; initialDepth = 1003.003697; finalDepth = 1006.381878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1006.381878 # Seafloor depth: -1056.381878 # 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 103.810954 meters # Minimum depth: 1053.003697 meters looking forward 100.000000 meters along route # Maximum depth: 1058.725469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.003697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898737; longitude = -117.784293; captureRadius = 10; duration = 207; initialDepth = 996.380913; finalDepth = 1003.003697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7217719999999 # Actual altitude: 55.7217719999999 # Commanded vehicle depth: 1003.003697 # Seafloor depth: -1058.725469 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.89; 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 = 222.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 108.237019 meters # Minimum depth: 1046.380913 meters looking forward 100.000000 meters along route # Maximum depth: 1051.351400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.380913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898208; longitude = -117.785209; captureRadius = 10; duration = 216; initialDepth = 995.884667; finalDepth = 996.380913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7217719999999 # Actual altitude: 55.7217719999999 # Commanded vehicle depth: 996.380913 # Seafloor depth: -1051.351400 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.89; 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 = 222.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 101.713710 meters # Minimum depth: 1045.884667 meters looking forward 100.000000 meters along route # Maximum depth: 1047.313361 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.884667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897657; longitude = -117.786164; captureRadius = 10; duration = 203; initialDepth = 988.928167; finalDepth = 995.884667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.970487 # Actual altitude: 54.970487 # Commanded vehicle depth: 995.884667 # Seafloor depth: -1046.223149 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 219.88; 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 = 219.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.976030 meters # Minimum depth: 1038.928167 meters looking forward 100.000000 meters along route # Maximum depth: 1048.377779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.928167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897139; longitude = -117.787062; captureRadius = 10; duration = 209; initialDepth = 979.809773; finalDepth = 988.928167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.541739 # Actual altitude: 58.541739 # Commanded vehicle depth: 988.928167 # Seafloor depth: -1047.469906 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 234.17; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.42; MB_Bottom_Detect_Filter_Max_Range = 234.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.976473 meters # Minimum depth: 1029.809773 meters looking forward 100.000000 meters along route # Maximum depth: 1037.783370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.809773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896604; longitude = -117.787988; captureRadius = 10; duration = 209; initialDepth = 988.796724; finalDepth = 979.809773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.541739 # Actual altitude: 58.541739 # Commanded vehicle depth: 979.809773 # Seafloor depth: -1030.969818 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 234.17; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.42; MB_Bottom_Detect_Filter_Max_Range = 234.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.976917 meters # Minimum depth: 1038.796724 meters looking forward 100.000000 meters along route # Maximum depth: 1044.076088 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.796724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896069; longitude = -117.788915; captureRadius = 10; duration = 209; initialDepth = 992.664159; finalDepth = 988.796724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1600450000001 # Actual altitude: 51.1600450000001 # Commanded vehicle depth: 988.796724 # Seafloor depth: -1039.136932 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.64; 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 = 204.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.977359 meters # Minimum depth: 1042.664159 meters looking forward 100.000000 meters along route # Maximum depth: 1048.842165 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.664159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895535; longitude = -117.789841; captureRadius = 10; duration = 209; initialDepth = 995.522504; finalDepth = 992.664159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2906330000001 # Actual altitude: 54.2906330000001 # Commanded vehicle depth: 992.664159 # Seafloor depth: -1046.954792 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 217.16; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.72; MB_Bottom_Detect_Filter_Max_Range = 217.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.977803 meters # Minimum depth: 1045.522504 meters looking forward 100.000000 meters along route # Maximum depth: 1052.173313 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.522504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895000; longitude = -117.790767; captureRadius = 10; duration = 209; initialDepth = 1001.168247; finalDepth = 995.522504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2906330000001 # Actual altitude: 54.2906330000001 # Commanded vehicle depth: 995.522504 # Seafloor depth: -1045.522504 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 217.16; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.72; MB_Bottom_Detect_Filter_Max_Range = 217.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.978247 meters # Minimum depth: 1051.168247 meters looking forward 100.000000 meters along route # Maximum depth: 1054.919766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.168247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894466; longitude = -117.791694; captureRadius = 10; duration = 209; initialDepth = 1005.587540; finalDepth = 1001.168247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1001.168247 # Seafloor depth: -1051.168247 # 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 116.633443 meters # Minimum depth: 1055.587540 meters looking forward 100.000000 meters along route # Maximum depth: 1064.811376 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.587540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893931; longitude = -117.792620; captureRadius = 10; duration = 233; initialDepth = 1012.717540; finalDepth = 1005.587540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1005.58754 # Seafloor depth: -1055.587540 # 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 121.175217 meters # Minimum depth: 1062.717540 meters looking forward 100.000000 meters along route # Maximum depth: 1066.373750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.717540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893337; longitude = -117.793649; captureRadius = 10; duration = 242; initialDepth = 1003.819454; finalDepth = 1012.717540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6562099999999 # Actual altitude: 53.6562099999999 # Commanded vehicle depth: 1012.71754 # Seafloor depth: -1066.373750 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.62; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 214.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 122.695228 meters # Minimum depth: 1053.819454 meters looking forward 100.000000 meters along route # Maximum depth: 1066.536918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.819454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892720; longitude = -117.794718; captureRadius = 10; duration = 245; initialDepth = 1002.672363; finalDepth = 1003.819454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.6562099999999 # Actual altitude: 53.6562099999999 # Commanded vehicle depth: 1003.819454 # Seafloor depth: -1055.848082 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 214.62; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 214.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.62; 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 150.057133 meters # Minimum depth: 1052.672363 meters looking forward 100.000000 meters along route # Maximum depth: 1053.859493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.672363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892095; longitude = -117.795801; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 1001.974357; finalDepth = 1002.672363; 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: 52.028628 # Actual altitude: 52.028628 # Commanded vehicle depth: 1002.672363 # Seafloor depth: -1052.672363 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 208.11; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.81; MB_Bottom_Detect_Filter_Max_Range = 208.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 110.904004 meters # Minimum depth: 1051.974357 meters looking forward 100.000000 meters along route # Maximum depth: 1061.437711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.974357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890978; longitude = -117.794895; captureRadius = 10; duration = 221; # abortOnTimeout = True; initialDepth = 1006.078291; finalDepth = 1001.974357; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2732019999999 # Actual altitude: 51.2732019999999 # Commanded vehicle depth: 1001.974357 # Seafloor depth: -1053.247559 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.09; 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 = 205.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.507510 meters # Minimum depth: 1056.078291 meters looking forward 100.000000 meters along route # Maximum depth: 1061.716718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.078291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891543; longitude = -117.793916; captureRadius = 10; duration = 203; initialDepth = 1003.980999; finalDepth = 1006.078291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6384269999999 # Actual altitude: 55.6384269999999 # Commanded vehicle depth: 1006.078291 # Seafloor depth: -1061.716718 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.55; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.26; MB_Bottom_Detect_Filter_Max_Range = 222.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.979748 meters # Minimum depth: 1053.980999 meters looking forward 100.000000 meters along route # Maximum depth: 1057.405295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.980999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892060; longitude = -117.793021; captureRadius = 10; duration = 209; initialDepth = 997.434890; finalDepth = 1003.980999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6384269999999 # Actual altitude: 55.6384269999999 # Commanded vehicle depth: 1003.980999 # Seafloor depth: -1057.405295 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.55; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.26; MB_Bottom_Detect_Filter_Max_Range = 222.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.979304 meters # Minimum depth: 1047.434890 meters looking forward 100.000000 meters along route # Maximum depth: 1051.807400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.434890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892594; longitude = -117.792094; captureRadius = 10; duration = 209; initialDepth = 991.715446; finalDepth = 997.434890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3725099999999 # Actual altitude: 54.3725099999999 # Commanded vehicle depth: 997.43489 # Seafloor depth: -1051.807400 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 217.49; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.75; MB_Bottom_Detect_Filter_Max_Range = 217.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.978860 meters # Minimum depth: 1041.715446 meters looking forward 100.000000 meters along route # Maximum depth: 1051.021538 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.715446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893129; longitude = -117.791168; captureRadius = 10; duration = 209; initialDepth = 990.509320; finalDepth = 991.715446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4803870000001 # Actual altitude: 55.4803870000001 # Commanded vehicle depth: 991.715446 # Seafloor depth: -1047.195833 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.92; 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 = 221.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.978418 meters # Minimum depth: 1040.509320 meters looking forward 100.000000 meters along route # Maximum depth: 1044.711456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.509320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893664; longitude = -117.790242; captureRadius = 10; duration = 209; initialDepth = 990.459172; finalDepth = 990.509320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4803870000001 # Actual altitude: 55.4803870000001 # Commanded vehicle depth: 990.50932 # Seafloor depth: -1040.733339 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.92; 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 = 221.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.977974 meters # Minimum depth: 1040.459172 meters looking forward 100.000000 meters along route # Maximum depth: 1042.472248 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.459172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894198; longitude = -117.789315; captureRadius = 10; duration = 209; initialDepth = 984.864759; finalDepth = 990.459172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.224019 # Actual altitude: 50.224019 # Commanded vehicle depth: 990.459172 # Seafloor depth: -1040.459172 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.90; 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 = 200.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.977530 meters # Minimum depth: 1034.864759 meters looking forward 100.000000 meters along route # Maximum depth: 1049.177817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.864759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894733; longitude = -117.788389; captureRadius = 10; duration = 209; initialDepth = 986.481482; finalDepth = 984.864759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5371239999999 # Actual altitude: 54.5371239999999 # Commanded vehicle depth: 984.864759 # Seafloor depth: -1039.401883 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.15; 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 = 218.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.977087 meters # Minimum depth: 1036.481482 meters looking forward 100.000000 meters along route # Maximum depth: 1051.557945 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.481482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895268; longitude = -117.787463; captureRadius = 10; duration = 209; initialDepth = 1003.439827; finalDepth = 986.481482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5371239999999 # Actual altitude: 54.5371239999999 # Commanded vehicle depth: 986.481482 # Seafloor depth: -1036.481482 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.15; 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 = 218.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.976644 meters # Minimum depth: 1053.439827 meters looking forward 100.000000 meters along route # Maximum depth: 1058.539263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.439827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895802; longitude = -117.786536; captureRadius = 10; duration = 209; initialDepth = 1005.096463; finalDepth = 1003.439827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1003.439827 # Seafloor depth: -1053.439827 # 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 104.976201 meters # Minimum depth: 1055.096463 meters looking forward 100.000000 meters along route # Maximum depth: 1057.268420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.096463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896337; longitude = -117.785610; captureRadius = 10; duration = 209; initialDepth = 1006.314251; finalDepth = 1005.096463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.171957 # Actual altitude: 52.171957 # Commanded vehicle depth: 1005.096463 # Seafloor depth: -1057.268420 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.69; 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 = 208.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.975758 meters # Minimum depth: 1056.314251 meters looking forward 100.000000 meters along route # Maximum depth: 1064.433230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.314251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896871; longitude = -117.784684; captureRadius = 10; duration = 209; initialDepth = 1012.056682; finalDepth = 1006.314251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.171957 # Actual altitude: 52.171957 # Commanded vehicle depth: 1006.314251 # Seafloor depth: -1056.314251 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.69; 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 = 208.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.975314 meters # Minimum depth: 1062.056682 meters looking forward 100.000000 meters along route # Maximum depth: 1064.440431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.056682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897406; longitude = -117.783757; captureRadius = 10; duration = 209; initialDepth = 1008.342938; finalDepth = 1012.056682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3837490000001 # Actual altitude: 52.3837490000001 # Commanded vehicle depth: 1012.056682 # Seafloor depth: -1064.440431 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.53; 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 = 209.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 106.938806 meters # Minimum depth: 1058.342938 meters looking forward 100.000000 meters along route # Maximum depth: 1062.946309 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.342938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897941; longitude = -117.782831; captureRadius = 10; duration = 213; initialDepth = 1006.368804; finalDepth = 1008.342938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6033709999999 # Actual altitude: 54.6033709999999 # Commanded vehicle depth: 1008.342938 # Seafloor depth: -1062.946309 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.41; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 218.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 103.010493 meters # Minimum depth: 1056.368804 meters looking forward 100.000000 meters along route # Maximum depth: 1058.232574 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.368804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898485; longitude = -117.781887; captureRadius = 10; duration = 206; initialDepth = 1000.927948; finalDepth = 1006.368804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6033709999999 # Actual altitude: 54.6033709999999 # Commanded vehicle depth: 1006.368804 # Seafloor depth: -1058.232574 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.41; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 218.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 109.035991 meters # Minimum depth: 1050.927948 meters looking forward 100.000000 meters along route # Maximum depth: 1056.155394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.927948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899010; longitude = -117.780978; captureRadius = 10; duration = 218; initialDepth = 999.465046; finalDepth = 1000.927948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2274459999999 # Actual altitude: 55.2274459999999 # Commanded vehicle depth: 1000.927948 # Seafloor depth: -1056.155394 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.91; 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 = 220.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.911535 meters # Minimum depth: 1049.465046 meters looking forward 100.000000 meters along route # Maximum depth: 1051.882258 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.465046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899565; longitude = -117.780016; captureRadius = 10; duration = 201; initialDepth = 998.859880; finalDepth = 999.465046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2274459999999 # Actual altitude: 55.2274459999999 # Commanded vehicle depth: 999.465046 # Seafloor depth: -1050.762353 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.91; 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 = 220.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.973098 meters # Minimum depth: 1048.859880 meters looking forward 100.000000 meters along route # Maximum depth: 1050.522794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.859880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900079; longitude = -117.779126; captureRadius = 10; duration = 209; initialDepth = 997.594131; finalDepth = 998.859880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.297307 # Actual altitude: 51.297307 # Commanded vehicle depth: 998.85988 # Seafloor depth: -1049.663271 # 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 9 # Segment length 104.972655 meters # Minimum depth: 1047.594131 meters looking forward 100.000000 meters along route # Maximum depth: 1048.455778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.594131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900614; longitude = -117.778199; captureRadius = 10; duration = 209; initialDepth = 997.839242; finalDepth = 997.594131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8616469999999 # Actual altitude: 50.8616469999999 # Commanded vehicle depth: 997.594131 # Seafloor depth: -1048.455778 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.45; 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 = 203.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.972212 meters # Minimum depth: 1047.839242 meters looking forward 100.000000 meters along route # Maximum depth: 1048.170469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.839242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901148; longitude = -117.777273; captureRadius = 10; duration = 209; initialDepth = 997.321971; finalDepth = 997.839242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8616469999999 # Actual altitude: 50.8616469999999 # Commanded vehicle depth: 997.839242 # Seafloor depth: -1048.137227 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.45; 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 = 203.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.971769 meters # Minimum depth: 1047.321971 meters looking forward 100.000000 meters along route # Maximum depth: 1048.045594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.321971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901683; longitude = -117.776346; captureRadius = 10; duration = 209; initialDepth = 995.778395; finalDepth = 997.321971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.579201 # Actual altitude: 50.579201 # Commanded vehicle depth: 997.321971 # Seafloor depth: -1047.901172 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.32; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.971326 meters # Minimum depth: 1045.778395 meters looking forward 100.000000 meters along route # Maximum depth: 1047.535794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.778395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902218; longitude = -117.775420; captureRadius = 10; duration = 209; initialDepth = 993.300577; finalDepth = 995.778395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7573989999999 # Actual altitude: 51.7573989999999 # Commanded vehicle depth: 995.778395 # Seafloor depth: -1047.535794 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.03; 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 = 207.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.970882 meters # Minimum depth: 1043.300577 meters looking forward 100.000000 meters along route # Maximum depth: 1045.010718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.300577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902752; longitude = -117.774494; captureRadius = 10; duration = 209; initialDepth = 990.820525; finalDepth = 993.300577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7573989999999 # Actual altitude: 51.7573989999999 # Commanded vehicle depth: 993.300577 # Seafloor depth: -1045.010718 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.03; 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 = 207.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.970440 meters # Minimum depth: 1040.820525 meters looking forward 100.000000 meters along route # Maximum depth: 1043.237642 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.820525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903287; longitude = -117.773567; captureRadius = 10; duration = 209; initialDepth = 989.592390; finalDepth = 990.820525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.417117 # Actual altitude: 52.417117 # Commanded vehicle depth: 990.820525 # Seafloor depth: -1043.237642 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.67; 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 = 209.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.969996 meters # Minimum depth: 1039.592390 meters looking forward 100.000000 meters along route # Maximum depth: 1040.183039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.592390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903822; longitude = -117.772641; captureRadius = 10; duration = 209; initialDepth = 987.135256; finalDepth = 989.592390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.417117 # Actual altitude: 52.417117 # Commanded vehicle depth: 989.59239 # Seafloor depth: -1040.093104 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.67; 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 = 209.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.969553 meters # Minimum depth: 1037.135256 meters looking forward 100.000000 meters along route # Maximum depth: 1039.778879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.135256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904356; longitude = -117.771715; captureRadius = 10; duration = 209; initialDepth = 986.309513; finalDepth = 987.135256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3982249999999 # Actual altitude: 52.3982249999999 # Commanded vehicle depth: 987.135256 # Seafloor depth: -1039.533481 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.59; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 105.424465 meters # Minimum depth: 1036.309513 meters looking forward 100.000000 meters along route # Maximum depth: 1037.719679 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.309513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904891; longitude = -117.770788; captureRadius = 10; duration = 210; initialDepth = 985.348494; finalDepth = 986.309513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3982249999999 # Actual altitude: 52.3982249999999 # Commanded vehicle depth: 986.309513 # Seafloor depth: -1037.125601 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.59; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.513313 meters # Minimum depth: 1035.348494 meters looking forward 100.000000 meters along route # Maximum depth: 1037.907217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.348494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905428; longitude = -117.769858; captureRadius = 10; duration = 209; initialDepth = 983.494464; finalDepth = 985.348494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9158969999999 # Actual altitude: 50.9158969999999 # Commanded vehicle depth: 985.348494 # Seafloor depth: -1036.264391 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.66; 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 = 203.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.521548 meters # Minimum depth: 1033.494464 meters looking forward 100.000000 meters along route # Maximum depth: 1035.776372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.494464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905960; longitude = -117.768936; captureRadius = 10; duration = 215; initialDepth = 983.437982; finalDepth = 983.494464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8901069999999 # Actual altitude: 51.8901069999999 # Commanded vehicle depth: 983.494464 # Seafloor depth: -1035.384571 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.56; 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 = 207.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.414458 meters # Minimum depth: 1033.437982 meters looking forward 100.000000 meters along route # Maximum depth: 1035.030365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.437982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906508; longitude = -117.767987; captureRadius = 10; duration = 204; initialDepth = 983.432095; finalDepth = 983.437982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8901069999999 # Actual altitude: 51.8901069999999 # Commanded vehicle depth: 983.437982 # Seafloor depth: -1033.437982 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.56; 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 = 207.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 109.618595 meters # Minimum depth: 1033.432095 meters looking forward 100.000000 meters along route # Maximum depth: 1035.220289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.432095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907029; longitude = -117.767083; captureRadius = 10; duration = 219; initialDepth = 983.767130; finalDepth = 983.432095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9502030000001 # Actual altitude: 50.9502030000001 # Commanded vehicle depth: 983.432095 # Seafloor depth: -1034.382298 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.80; 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 = 203.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.315638 meters # Minimum depth: 1033.767130 meters looking forward 100.000000 meters along route # Maximum depth: 1036.306691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.767130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907588; longitude = -117.766116; captureRadius = 10; duration = 200; initialDepth = 985.018821; finalDepth = 983.767130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6411210000001 # Actual altitude: 51.6411210000001 # Commanded vehicle depth: 983.76713 # Seafloor depth: -1035.408251 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.56; 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 = 206.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.966453 meters # Minimum depth: 1035.018821 meters looking forward 100.000000 meters along route # Maximum depth: 1037.664804 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.018821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908099; longitude = -117.765230; captureRadius = 10; duration = 209; initialDepth = 986.473272; finalDepth = 985.018821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6411210000001 # Actual altitude: 51.6411210000001 # Commanded vehicle depth: 985.018821 # Seafloor depth: -1035.254072 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.56; 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 = 206.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.966009 meters # Minimum depth: 1036.473272 meters looking forward 100.000000 meters along route # Maximum depth: 1039.288970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.473272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908633; longitude = -117.764304; captureRadius = 10; duration = 209; initialDepth = 989.562745; finalDepth = 986.473272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.694923 # Actual altitude: 50.694923 # Commanded vehicle depth: 986.473272 # Seafloor depth: -1037.168195 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.78; 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 = 202.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.965567 meters # Minimum depth: 1039.562745 meters looking forward 100.000000 meters along route # Maximum depth: 1043.404027 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.562745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909168; longitude = -117.763378; captureRadius = 10; duration = 209; initialDepth = 993.346143; finalDepth = 989.562745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.694923 # Actual altitude: 50.694923 # Commanded vehicle depth: 989.562745 # Seafloor depth: -1039.562745 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.78; 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 = 202.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.965123 meters # Minimum depth: 1043.346143 meters looking forward 100.000000 meters along route # Maximum depth: 1047.813896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.346143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909703; longitude = -117.762451; captureRadius = 10; duration = 209; initialDepth = 997.848707; finalDepth = 993.346143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 993.346143 # Seafloor depth: -1043.346143 # 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 104.964681 meters # Minimum depth: 1047.848707 meters looking forward 100.000000 meters along route # Maximum depth: 1051.320977 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.848707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910237; longitude = -117.761525; captureRadius = 10; duration = 209; initialDepth = 1001.567959; finalDepth = 997.848707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 997.848707 # Seafloor depth: -1047.848707 # 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 104.964238 meters # Minimum depth: 1051.567959 meters looking forward 100.000000 meters along route # Maximum depth: 1053.539258 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.567959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910772; longitude = -117.760599; captureRadius = 10; duration = 209; initialDepth = 1001.962712; finalDepth = 1001.567959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2195180000001 # Actual altitude: 50.2195180000001 # Commanded vehicle depth: 1001.567959 # Seafloor depth: -1051.787477 # 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 9 # Segment length 104.963795 meters # Minimum depth: 1051.962712 meters looking forward 100.000000 meters along route # Maximum depth: 1054.489404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.962712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911306; longitude = -117.759672; captureRadius = 10; duration = 209; initialDepth = 1002.697713; finalDepth = 1001.962712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.56889 # Actual altitude: 51.56889 # Commanded vehicle depth: 1001.962712 # Seafloor depth: -1053.531602 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.28; 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 = 206.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.963352 meters # Minimum depth: 1052.697713 meters looking forward 100.000000 meters along route # Maximum depth: 1054.570534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.697713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911841; longitude = -117.758746; captureRadius = 10; duration = 209; initialDepth = 1003.981617; finalDepth = 1002.697713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.56889 # Actual altitude: 51.56889 # Commanded vehicle depth: 1002.697713 # Seafloor depth: -1053.097992 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.28; 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 = 206.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.962909 meters # Minimum depth: 1053.981617 meters looking forward 100.000000 meters along route # Maximum depth: 1055.136412 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.981617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912376; longitude = -117.757820; captureRadius = 10; duration = 209; initialDepth = 999.576556; finalDepth = 1003.981617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.532702 # Actual altitude: 50.532702 # Commanded vehicle depth: 1003.981617 # Seafloor depth: -1054.514319 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.13; 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 = 202.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 106.007273 meters # Minimum depth: 1049.576556 meters looking forward 100.000000 meters along route # Maximum depth: 1053.685181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.576556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912910; longitude = -117.756893; captureRadius = 10; duration = 212; initialDepth = 995.878409; finalDepth = 999.576556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1086250000001 # Actual altitude: 54.1086250000001 # Commanded vehicle depth: 999.576556 # Seafloor depth: -1053.685181 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.43; 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 = 216.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 103.917217 meters # Minimum depth: 1045.878409 meters looking forward 100.000000 meters along route # Maximum depth: 1049.521866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.878409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913450; longitude = -117.755958; captureRadius = 10; duration = 207; initialDepth = 985.809666; finalDepth = 995.878409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1086250000001 # Actual altitude: 54.1086250000001 # Commanded vehicle depth: 995.878409 # Seafloor depth: -1049.521866 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.43; 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 = 216.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 108.104219 meters # Minimum depth: 1035.809666 meters looking forward 100.000000 meters along route # Maximum depth: 1044.676129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.809666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913980; longitude = -117.755041; captureRadius = 10; duration = 216; initialDepth = 976.309554; finalDepth = 985.809666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8664629999998 # Actual altitude: 58.8664629999998 # Commanded vehicle depth: 985.809666 # Seafloor depth: -1044.676129 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 235.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.55; MB_Bottom_Detect_Filter_Max_Range = 235.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 101.818500 meters # Minimum depth: 1026.309554 meters looking forward 100.000000 meters along route # Maximum depth: 1036.832575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.309554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914530; longitude = -117.754086; captureRadius = 10; duration = 203; initialDepth = 969.699879; finalDepth = 976.309554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.523021 # Actual altitude: 60.523021 # Commanded vehicle depth: 976.309554 # Seafloor depth: -1036.832575 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 242.09; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.21; MB_Bottom_Detect_Filter_Max_Range = 242.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.960696 meters # Minimum depth: 1019.699879 meters looking forward 100.000000 meters along route # Maximum depth: 1025.134465 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.699879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915049; longitude = -117.753188; captureRadius = 10; duration = 209; initialDepth = 962.971732; finalDepth = 969.699879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.523021 # Actual altitude: 60.523021 # Commanded vehicle depth: 969.699879 # Seafloor depth: -1025.134465 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 242.09; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.21; MB_Bottom_Detect_Filter_Max_Range = 242.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.960252 meters # Minimum depth: 1012.971732 meters looking forward 100.000000 meters along route # Maximum depth: 1018.377837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.971732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915583; longitude = -117.752261; captureRadius = 10; duration = 209; initialDepth = 962.658480; finalDepth = 962.971732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4345860000001 # Actual altitude: 55.4345860000001 # Commanded vehicle depth: 962.971732 # Seafloor depth: -1018.377837 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.74; 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 = 221.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.959810 meters # Minimum depth: 1012.658480 meters looking forward 100.000000 meters along route # Maximum depth: 1014.350782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.658480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916118; longitude = -117.751335; captureRadius = 10; duration = 209; initialDepth = 948.450448; finalDepth = 962.658480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.406105 # Actual altitude: 55.406105 # Commanded vehicle depth: 962.65848 # Seafloor depth: -1012.658480 # 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 9 # Segment length 104.959367 meters # Minimum depth: 998.450448 meters looking forward 100.000000 meters along route # Maximum depth: 1008.006539 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.450448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916653; longitude = -117.750409; captureRadius = 10; duration = 209; initialDepth = 938.186760; finalDepth = 948.450448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.5560909999999 # Actual altitude: 59.5560909999999 # Commanded vehicle depth: 948.450448 # Seafloor depth: -1008.006539 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 238.22; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.82; MB_Bottom_Detect_Filter_Max_Range = 238.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 114.394842 meters # Minimum depth: 988.186760 meters looking forward 100.000000 meters along route # Maximum depth: 1003.619461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.186760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917187; longitude = -117.749482; captureRadius = 10; duration = 228; initialDepth = 939.508991; finalDepth = 938.186760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.432701 # Actual altitude: 65.432701 # Commanded vehicle depth: 938.18676 # Seafloor depth: -1003.619461 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 261.73; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.17; MB_Bottom_Detect_Filter_Max_Range = 261.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 121.151199 meters # Minimum depth: 989.508991 meters looking forward 100.000000 meters along route # Maximum depth: 1000.635442 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.508991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917770; longitude = -117.748473; captureRadius = 10; duration = 242; initialDepth = 942.277289; finalDepth = 939.508991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.432701 # Actual altitude: 65.432701 # Commanded vehicle depth: 939.508991 # Seafloor depth: -1000.635442 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 261.73; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.17; MB_Bottom_Detect_Filter_Max_Range = 261.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 106.568060 meters # Minimum depth: 992.277289 meters looking forward 100.000000 meters along route # Maximum depth: 996.524471 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 942.277289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918387; longitude = -117.747404; captureRadius = 10; duration = 213; initialDepth = 936.508696; finalDepth = 942.277289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 61.126451 # Actual altitude: 61.126451 # Commanded vehicle depth: 942.277289 # Seafloor depth: -996.524471 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 244.51; 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 = 244.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 244.51; 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 149.989128 meters # Minimum depth: 986.508696 meters looking forward 100.000000 meters along route # Maximum depth: 996.912979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.508696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.918930; longitude = -117.746463; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 932.125732; finalDepth = 936.508696; 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: 60.404283 # Actual altitude: 60.404283 # Commanded vehicle depth: 936.508696 # Seafloor depth: -996.912979 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 241.62; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.16; MB_Bottom_Detect_Filter_Max_Range = 241.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 122.826794 meters # Minimum depth: 982.125732 meters looking forward 100.000000 meters along route # Maximum depth: 993.336722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.125732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917813; longitude = -117.745558; captureRadius = 10; duration = 245; # abortOnTimeout = True; initialDepth = 944.316677; finalDepth = 932.125732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.404283 # Actual altitude: 60.404283 # Commanded vehicle depth: 932.125732 # Seafloor depth: -988.335342 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 241.62; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.16; MB_Bottom_Detect_Filter_Max_Range = 241.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 104.960401 meters # Minimum depth: 994.316677 meters looking forward 100.000000 meters along route # Maximum depth: 1002.746110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.316677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917187; longitude = -117.746642; captureRadius = 10; duration = 209; initialDepth = 954.233590; finalDepth = 944.316677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.20961 # Actual altitude: 56.20961 # Commanded vehicle depth: 944.316677 # Seafloor depth: -994.316677 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 224.84; 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 = 224.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.960843 meters # Minimum depth: 1004.233590 meters looking forward 100.000000 meters along route # Maximum depth: 1016.466158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.233590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916653; longitude = -117.747568; captureRadius = 10; duration = 209; initialDepth = 957.465341; finalDepth = 954.233590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.728346 # Actual altitude: 50.728346 # Commanded vehicle depth: 954.23359 # Seafloor depth: -1004.961936 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.91; 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 = 202.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.961286 meters # Minimum depth: 1007.465341 meters looking forward 100.000000 meters along route # Maximum depth: 1017.353471 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.465341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916118; longitude = -117.748495; captureRadius = 10; duration = 209; initialDepth = 958.188147; finalDepth = 957.465341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.11315 # Actual altitude: 59.11315 # Commanded vehicle depth: 957.465341 # Seafloor depth: -1016.578491 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 236.45; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.65; MB_Bottom_Detect_Filter_Max_Range = 236.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.961728 meters # Minimum depth: 1008.188147 meters looking forward 100.000000 meters along route # Maximum depth: 1020.652617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.188147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915583; longitude = -117.749421; captureRadius = 10; duration = 209; initialDepth = 970.706448; finalDepth = 958.188147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.11315 # Actual altitude: 59.11315 # Commanded vehicle depth: 958.188147 # Seafloor depth: -1009.459147 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 236.45; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.65; MB_Bottom_Detect_Filter_Max_Range = 236.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.962171 meters # Minimum depth: 1020.706448 meters looking forward 100.000000 meters along route # Maximum depth: 1025.726077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.706448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915049; longitude = -117.750347; captureRadius = 10; duration = 209; initialDepth = 972.735514; finalDepth = 970.706448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2710000000001 # Actual altitude: 51.2710000000001 # Commanded vehicle depth: 970.706448 # Seafloor depth: -1020.706448 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.08; 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 = 205.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 106.664618 meters # Minimum depth: 1022.735514 meters looking forward 100.000000 meters along route # Maximum depth: 1029.376941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.735514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914514; longitude = -117.751274; captureRadius = 10; duration = 213; initialDepth = 979.638398; finalDepth = 972.735514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.983737 # Actual altitude: 51.983737 # Commanded vehicle depth: 972.735514 # Seafloor depth: -1024.719251 # behavior reson { duration = 6; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 103.261053 meters # Minimum depth: 1029.638398 meters looking forward 100.000000 meters along route # Maximum depth: 1033.870215 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.638398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913971; longitude = -117.752215; captureRadius = 10; duration = 206; initialDepth = 985.057248; finalDepth = 979.638398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.983737 # Actual altitude: 51.983737 # Commanded vehicle depth: 979.638398 # Seafloor depth: -1029.638398 # behavior reson { duration = 6; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 108.760198 meters # Minimum depth: 1035.057248 meters looking forward 100.000000 meters along route # Maximum depth: 1044.252483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.057248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913445; longitude = -117.753127; captureRadius = 10; duration = 217; initialDepth = 994.431030; finalDepth = 985.057248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 985.057248 # Seafloor depth: -1035.057248 # 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 101.167244 meters # Minimum depth: 1044.431030 meters looking forward 100.000000 meters along route # Maximum depth: 1046.925059 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.431030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912891; longitude = -117.754086; captureRadius = 10; duration = 202; initialDepth = 997.057577; finalDepth = 994.431030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 994.43103 # Seafloor depth: -1044.431030 # 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 104.964385 meters # Minimum depth: 1047.057577 meters looking forward 100.000000 meters along route # Maximum depth: 1051.358375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.057577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912376; longitude = -117.754979; captureRadius = 10; duration = 209; initialDepth = 1003.155785; finalDepth = 997.057577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 997.057577 # Seafloor depth: -1047.057577 # 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 104.964828 meters # Minimum depth: 1053.155785 meters looking forward 100.000000 meters along route # Maximum depth: 1055.748373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.155785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911841; longitude = -117.755906; captureRadius = 10; duration = 209; initialDepth = 1002.657751; finalDepth = 1003.155785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1003.155785 # Seafloor depth: -1053.155785 # 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 104.965270 meters # Minimum depth: 1052.657751 meters looking forward 100.000000 meters along route # Maximum depth: 1053.811186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.657751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911306; longitude = -117.756832; captureRadius = 10; duration = 209; initialDepth = 1001.653844; finalDepth = 1002.657751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7006470000001 # Actual altitude: 50.7006470000001 # Commanded vehicle depth: 1002.657751 # Seafloor depth: -1053.358398 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.80; 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 = 202.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.965714 meters # Minimum depth: 1051.653844 meters looking forward 100.000000 meters along route # Maximum depth: 1053.893483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.653844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910772; longitude = -117.757758; captureRadius = 10; duration = 209; initialDepth = 1002.939698; finalDepth = 1001.653844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7006470000001 # Actual altitude: 50.7006470000001 # Commanded vehicle depth: 1001.653844 # Seafloor depth: -1052.088500 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.80; 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 = 202.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.966156 meters # Minimum depth: 1052.939698 meters looking forward 100.000000 meters along route # Maximum depth: 1054.420178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.939698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910237; longitude = -117.758685; captureRadius = 10; duration = 209; initialDepth = 1004.485103; finalDepth = 1002.939698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4346560000001 # Actual altitude: 50.4346560000001 # Commanded vehicle depth: 1002.939698 # Seafloor depth: -1052.939698 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.74; 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 = 201.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.966599 meters # Minimum depth: 1054.485103 meters looking forward 100.000000 meters along route # Maximum depth: 1055.238519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.485103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909703; longitude = -117.759611; captureRadius = 10; duration = 209; initialDepth = 1002.637764; finalDepth = 1004.485103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.041739 # Actual altitude: 50.041739 # Commanded vehicle depth: 1004.485103 # Seafloor depth: -1054.526842 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.17; 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 = 200.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.967043 meters # Minimum depth: 1052.637764 meters looking forward 100.000000 meters along route # Maximum depth: 1055.218747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.637764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909168; longitude = -117.760537; captureRadius = 10; duration = 209; initialDepth = 999.012276; finalDepth = 1002.637764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5809829999998 # Actual altitude: 52.5809829999998 # Commanded vehicle depth: 1002.637764 # Seafloor depth: -1055.218747 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.32; 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 = 210.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.967485 meters # Minimum depth: 1049.012276 meters looking forward 100.000000 meters along route # Maximum depth: 1051.860961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.012276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908633; longitude = -117.761464; captureRadius = 10; duration = 209; initialDepth = 995.559106; finalDepth = 999.012276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6724200000001 # Actual altitude: 52.6724200000001 # Commanded vehicle depth: 999.012276 # Seafloor depth: -1051.684696 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.69; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.07; MB_Bottom_Detect_Filter_Max_Range = 210.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.967927 meters # Minimum depth: 1045.559106 meters looking forward 100.000000 meters along route # Maximum depth: 1048.948973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.559106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908099; longitude = -117.762390; captureRadius = 10; duration = 209; initialDepth = 994.541174; finalDepth = 995.559106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3898670000001 # Actual altitude: 53.3898670000001 # Commanded vehicle depth: 995.559106 # Seafloor depth: -1048.948973 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.56; 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 = 213.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 105.141378 meters # Minimum depth: 1044.541174 meters looking forward 100.000000 meters along route # Maximum depth: 1045.508381 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.541174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907564; longitude = -117.763317; captureRadius = 10; duration = 210; initialDepth = 994.175928; finalDepth = 994.541174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3898670000001 # Actual altitude: 53.3898670000001 # Commanded vehicle depth: 994.541174 # Seafloor depth: -1045.401555 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.56; 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 = 213.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.795807 meters # Minimum depth: 1044.175928 meters looking forward 100.000000 meters along route # Maximum depth: 1045.469101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.175928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907029; longitude = -117.764244; captureRadius = 10; duration = 209; initialDepth = 993.877827; finalDepth = 994.175928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2931729999998 # Actual altitude: 51.2931729999998 # Commanded vehicle depth: 994.175928 # Seafloor depth: -1045.469101 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.17; 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 = 205.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.237060 meters # Minimum depth: 1043.877827 meters looking forward 100.000000 meters along route # Maximum depth: 1045.454327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.877827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906495; longitude = -117.765169; captureRadius = 10; duration = 214; initialDepth = 992.657769; finalDepth = 993.877827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2931729999998 # Actual altitude: 51.2931729999998 # Commanded vehicle depth: 993.877827 # Seafloor depth: -1044.127849 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.17; 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 = 205.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.701896 meters # Minimum depth: 1042.657769 meters looking forward 100.000000 meters along route # Maximum depth: 1043.588407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.657769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905949; longitude = -117.766116; captureRadius = 10; duration = 205; initialDepth = 993.781331; finalDepth = 992.657769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.930638 # Actual altitude: 50.930638 # Commanded vehicle depth: 992.657769 # Seafloor depth: -1043.588407 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.72; 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 = 203.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 109.332778 meters # Minimum depth: 1043.781331 meters looking forward 100.000000 meters along route # Maximum depth: 1046.104960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.781331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905425; longitude = -117.767022; captureRadius = 10; duration = 218; initialDepth = 995.109093; finalDepth = 993.781331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.930638 # Actual altitude: 50.930638 # Commanded vehicle depth: 993.781331 # Seafloor depth: -1043.781331 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.72; 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 = 203.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.607950 meters # Minimum depth: 1045.109093 meters looking forward 100.000000 meters along route # Maximum depth: 1047.720981 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.109093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904869; longitude = -117.767987; captureRadius = 10; duration = 201; initialDepth = 994.881448; finalDepth = 995.109093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.030679 # Actual altitude: 51.030679 # Commanded vehicle depth: 995.109093 # Seafloor depth: -1046.139772 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.12; 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 = 204.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.971029 meters # Minimum depth: 1044.881448 meters looking forward 100.000000 meters along route # Maximum depth: 1047.511396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.881448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904356; longitude = -117.768875; captureRadius = 10; duration = 209; initialDepth = 995.763075; finalDepth = 994.881448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.781035 # Actual altitude: 51.781035 # Commanded vehicle depth: 994.881448 # Seafloor depth: -1046.662483 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.12; 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 = 207.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.971471 meters # Minimum depth: 1045.763075 meters looking forward 100.000000 meters along route # Maximum depth: 1047.211320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.763075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903822; longitude = -117.769801; captureRadius = 10; duration = 209; initialDepth = 997.030703; finalDepth = 995.763075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.781035 # Actual altitude: 51.781035 # Commanded vehicle depth: 995.763075 # Seafloor depth: -1047.012737 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.12; 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 = 207.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.971915 meters # Minimum depth: 1047.030703 meters looking forward 100.000000 meters along route # Maximum depth: 1048.263700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.030703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903287; longitude = -117.770727; captureRadius = 10; duration = 209; initialDepth = 998.270863; finalDepth = 997.030703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2496619999999 # Actual altitude: 51.2496619999999 # Commanded vehicle depth: 997.030703 # Seafloor depth: -1047.104344 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.00; 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 = 205.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.972358 meters # Minimum depth: 1048.270863 meters looking forward 100.000000 meters along route # Maximum depth: 1050.656370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.270863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902752; longitude = -117.771654; captureRadius = 10; duration = 209; initialDepth = 998.786664; finalDepth = 998.270863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0824279999999 # Actual altitude: 50.0824279999999 # Commanded vehicle depth: 998.270863 # Seafloor depth: -1048.353291 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.33; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.972801 meters # Minimum depth: 1048.786664 meters looking forward 100.000000 meters along route # Maximum depth: 1051.081824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.786664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902218; longitude = -117.772580; captureRadius = 10; duration = 209; initialDepth = 999.584728; finalDepth = 998.786664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.039955 # Actual altitude: 52.039955 # Commanded vehicle depth: 998.786664 # Seafloor depth: -1050.826619 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.16; 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 = 208.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.973243 meters # Minimum depth: 1049.584728 meters looking forward 100.000000 meters along route # Maximum depth: 1051.875058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.584728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901683; longitude = -117.773506; captureRadius = 10; duration = 209; initialDepth = 1001.562020; finalDepth = 999.584728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.039955 # Actual altitude: 52.039955 # Commanded vehicle depth: 999.584728 # Seafloor depth: -1049.634113 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.16; 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 = 208.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.973687 meters # Minimum depth: 1051.562020 meters looking forward 100.000000 meters along route # Maximum depth: 1052.343179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.562020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901148; longitude = -117.774433; captureRadius = 10; duration = 209; initialDepth = 1003.012600; finalDepth = 1001.562020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.246253 # Actual altitude: 50.246253 # Commanded vehicle depth: 1001.56202 # Seafloor depth: -1051.808273 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.99; 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 = 200.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.974130 meters # Minimum depth: 1053.012600 meters looking forward 100.000000 meters along route # Maximum depth: 1054.316063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.012600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900614; longitude = -117.775359; captureRadius = 10; duration = 209; initialDepth = 1002.566572; finalDepth = 1003.012600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.246253 # Actual altitude: 50.246253 # Commanded vehicle depth: 1003.0126 # Seafloor depth: -1053.012600 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.99; 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 = 200.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.974573 meters # Minimum depth: 1052.566572 meters looking forward 100.000000 meters along route # Maximum depth: 1054.230524 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.566572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900079; longitude = -117.776286; captureRadius = 10; duration = 209; initialDepth = 1001.465932; finalDepth = 1002.566572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6639520000001 # Actual altitude: 51.6639520000001 # Commanded vehicle depth: 1002.566572 # Seafloor depth: -1054.230524 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.66; 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 = 206.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 105.713758 meters # Minimum depth: 1051.465932 meters looking forward 100.000000 meters along route # Maximum depth: 1052.875828 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.465932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899545; longitude = -117.777212; captureRadius = 10; duration = 211; initialDepth = 1002.955371; finalDepth = 1001.465932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6639520000001 # Actual altitude: 51.6639520000001 # Commanded vehicle depth: 1001.465932 # Seafloor depth: -1052.409417 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.66; 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 = 206.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.236718 meters # Minimum depth: 1052.955371 meters looking forward 100.000000 meters along route # Maximum depth: 1055.329483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.955371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899006; longitude = -117.778145; captureRadius = 10; duration = 208; initialDepth = 1005.937764; finalDepth = 1002.955371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.943485 # Actual altitude: 50.943485 # Commanded vehicle depth: 1002.955371 # Seafloor depth: -1052.955371 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.77; 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 = 203.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.809578 meters # Minimum depth: 1055.937764 meters looking forward 100.000000 meters along route # Maximum depth: 1058.760336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.937764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898475; longitude = -117.779065; captureRadius = 10; duration = 215; initialDepth = 1008.739804; finalDepth = 1005.937764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1005.937764 # Seafloor depth: -1055.937764 # 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 102.142671 meters # Minimum depth: 1058.739804 meters looking forward 100.000000 meters along route # Maximum depth: 1062.160518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.739804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897926; longitude = -117.780016; captureRadius = 10; duration = 204; initialDepth = 1012.311243; finalDepth = 1008.739804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1008.739804 # Seafloor depth: -1058.739804 # 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 109.905433 meters # Minimum depth: 1062.311243 meters looking forward 100.000000 meters along route # Maximum depth: 1063.934242 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.311243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897406; longitude = -117.780917; captureRadius = 10; duration = 219; initialDepth = 1014.102159; finalDepth = 1012.311243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1012.311243 # Seafloor depth: -1062.311243 # 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 100.048588 meters # Minimum depth: 1064.102159 meters looking forward 100.000000 meters along route # Maximum depth: 1066.769423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.102159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896846; longitude = -117.781887; captureRadius = 10; duration = 200; initialDepth = 1016.616455; finalDepth = 1014.102159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1014.102159 # Seafloor depth: -1064.102159 # 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 104.977675 meters # Minimum depth: 1066.616455 meters looking forward 100.000000 meters along route # Maximum depth: 1067.705285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.616455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896337; longitude = -117.782770; captureRadius = 10; duration = 209; initialDepth = 1012.159501; finalDepth = 1016.616455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1016.616455 # Seafloor depth: -1066.616455 # 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 104.978119 meters # Minimum depth: 1062.159501 meters looking forward 100.000000 meters along route # Maximum depth: 1066.631210 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.159501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895802; longitude = -117.783696; captureRadius = 10; duration = 209; initialDepth = 1009.794223; finalDepth = 1012.159501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4717089999999 # Actual altitude: 54.4717089999999 # Commanded vehicle depth: 1012.159501 # Seafloor depth: -1066.631210 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 217.89; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.79; MB_Bottom_Detect_Filter_Max_Range = 217.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.978562 meters # Minimum depth: 1059.794223 meters looking forward 100.000000 meters along route # Maximum depth: 1062.813018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.794223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895268; longitude = -117.784623; captureRadius = 10; duration = 209; initialDepth = 992.010866; finalDepth = 1009.794223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4717089999999 # Actual altitude: 54.4717089999999 # Commanded vehicle depth: 1009.794223 # Seafloor depth: -1062.188219 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 217.89; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.79; MB_Bottom_Detect_Filter_Max_Range = 217.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.979005 meters # Minimum depth: 1042.010866 meters looking forward 100.000000 meters along route # Maximum depth: 1056.505714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.010866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894733; longitude = -117.785549; captureRadius = 10; duration = 209; initialDepth = 993.952328; finalDepth = 992.010866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.4948479999998 # Actual altitude: 64.4948479999998 # Commanded vehicle depth: 992.010866 # Seafloor depth: -1056.505714 # 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 7 # Segment length 104.979448 meters # Minimum depth: 1043.952328 meters looking forward 100.000000 meters along route # Maximum depth: 1047.740518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.952328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894198; longitude = -117.786476; captureRadius = 10; duration = 209; initialDepth = 998.591459; finalDepth = 993.952328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.4948479999998 # Actual altitude: 64.4948479999998 # Commanded vehicle depth: 993.952328 # Seafloor depth: -1043.952328 # 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 7 # Segment length 104.979892 meters # Minimum depth: 1048.591459 meters looking forward 100.000000 meters along route # Maximum depth: 1050.532696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.591459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893664; longitude = -117.787402; captureRadius = 10; duration = 209; initialDepth = 1000.517805; finalDepth = 998.591459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0096100000001 # Actual altitude: 51.0096100000001 # Commanded vehicle depth: 998.591459 # Seafloor depth: -1049.601069 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.04; 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 = 204.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.980335 meters # Minimum depth: 1050.517805 meters looking forward 100.000000 meters along route # Maximum depth: 1051.686555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.517805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893129; longitude = -117.788328; captureRadius = 10; duration = 209; initialDepth = 1001.120804; finalDepth = 1000.517805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0096100000001 # Actual altitude: 51.0096100000001 # Commanded vehicle depth: 1000.517805 # Seafloor depth: -1050.517805 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.04; 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 = 204.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.980778 meters # Minimum depth: 1051.120804 meters looking forward 100.000000 meters along route # Maximum depth: 1052.913778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.120804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892594; longitude = -117.789255; captureRadius = 10; duration = 209; initialDepth = 1000.611702; finalDepth = 1001.120804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.353339 # Actual altitude: 51.353339 # Commanded vehicle depth: 1001.120804 # Seafloor depth: -1052.474143 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.41; 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 = 205.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.981222 meters # Minimum depth: 1050.611702 meters looking forward 100.000000 meters along route # Maximum depth: 1052.174338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.611702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892060; longitude = -117.790181; captureRadius = 10; duration = 209; initialDepth = 1002.332826; finalDepth = 1000.611702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.353339 # Actual altitude: 51.353339 # Commanded vehicle depth: 1000.611702 # Seafloor depth: -1051.103278 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.41; 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 = 205.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 106.286212 meters # Minimum depth: 1052.332826 meters looking forward 100.000000 meters along route # Maximum depth: 1060.318753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.332826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891525; longitude = -117.791107; captureRadius = 10; duration = 212; initialDepth = 1003.438710; finalDepth = 1002.332826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4915760000001 # Actual altitude: 50.4915760000001 # Commanded vehicle depth: 1002.332826 # Seafloor depth: -1052.332826 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.97; 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 = 201.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 103.677562 meters # Minimum depth: 1053.438710 meters looking forward 100.000000 meters along route # Maximum depth: 1058.623775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.438710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890984; longitude = -117.792045; captureRadius = 10; duration = 207; initialDepth = 1003.074198; finalDepth = 1003.438710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9227500000002 # Actual altitude: 52.9227500000002 # Commanded vehicle depth: 1003.43871 # Seafloor depth: -1056.361460 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.69; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.17; MB_Bottom_Detect_Filter_Max_Range = 211.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 116.611306 meters # Minimum depth: 1053.074198 meters looking forward 100.000000 meters along route # Maximum depth: 1055.358626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.074198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890456; longitude = -117.792960; captureRadius = 10; duration = 233; initialDepth = 1003.582336; finalDepth = 1003.074198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.9227500000002 # Actual altitude: 52.9227500000002 # Commanded vehicle depth: 1003.074198 # Seafloor depth: -1053.677591 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 211.69; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.17; MB_Bottom_Detect_Filter_Max_Range = 211.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.69; 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 150.005444 meters # Minimum depth: 1053.582336 meters looking forward 100.000000 meters along route # Maximum depth: 1056.747159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.582336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889862; longitude = -117.793989; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 1006.556162; finalDepth = 1003.582336; 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: 50.6033929999999 # Actual altitude: 50.6033929999999 # Commanded vehicle depth: 1003.582336 # Seafloor depth: -1053.582336 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 202.41; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 125.988470 meters # Minimum depth: 1056.556162 meters looking forward 100.000000 meters along route # Maximum depth: 1059.664526 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.556162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.888745; longitude = -117.793084; captureRadius = 10; duration = 251; # abortOnTimeout = True; initialDepth = 1003.502627; finalDepth = 1006.556162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8031209999999 # Actual altitude: 52.8031209999999 # Commanded vehicle depth: 1006.556162 # Seafloor depth: -1059.359283 # 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 5 # Segment length 104.984421 meters # Minimum depth: 1053.502627 meters looking forward 100.000000 meters along route # Maximum depth: 1058.027024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.502627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889387; longitude = -117.791972; captureRadius = 10; duration = 209; initialDepth = 995.236441; finalDepth = 1003.502627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5243969999999 # Actual altitude: 54.5243969999999 # Commanded vehicle depth: 1003.502627 # Seafloor depth: -1058.027024 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.10; 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 = 218.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.983977 meters # Minimum depth: 1045.236441 meters looking forward 100.000000 meters along route # Maximum depth: 1052.449652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.236441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.889921; longitude = -117.791046; captureRadius = 10; duration = 209; initialDepth = 993.688135; finalDepth = 995.236441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.213211 # Actual altitude: 57.213211 # Commanded vehicle depth: 995.236441 # Seafloor depth: -1052.449652 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 228.85; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.89; MB_Bottom_Detect_Filter_Max_Range = 228.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.983535 meters # Minimum depth: 1043.688135 meters looking forward 100.000000 meters along route # Maximum depth: 1046.391746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.688135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890456; longitude = -117.790120; captureRadius = 10; duration = 209; initialDepth = 993.258805; finalDepth = 993.688135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.213211 # Actual altitude: 57.213211 # Commanded vehicle depth: 993.688135 # Seafloor depth: -1045.166346 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 228.85; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.89; MB_Bottom_Detect_Filter_Max_Range = 228.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.983091 meters # Minimum depth: 1043.258805 meters looking forward 100.000000 meters along route # Maximum depth: 1048.189258 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.258805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.890990; longitude = -117.789193; captureRadius = 10; duration = 209; initialDepth = 992.554374; finalDepth = 993.258805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4782109999999 # Actual altitude: 51.4782109999999 # Commanded vehicle depth: 993.258805 # Seafloor depth: -1043.266436 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.91; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.982647 meters # Minimum depth: 1042.554374 meters looking forward 100.000000 meters along route # Maximum depth: 1047.818413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.554374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.891525; longitude = -117.788267; captureRadius = 10; duration = 209; initialDepth = 992.737003; finalDepth = 992.554374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2640389999999 # Actual altitude: 55.2640389999999 # Commanded vehicle depth: 992.554374 # Seafloor depth: -1047.818413 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.06; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.11; MB_Bottom_Detect_Filter_Max_Range = 221.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.982204 meters # Minimum depth: 1042.737003 meters looking forward 100.000000 meters along route # Maximum depth: 1044.343955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.737003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892060; longitude = -117.787340; captureRadius = 10; duration = 209; initialDepth = 985.915003; finalDepth = 992.737003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2640389999999 # Actual altitude: 55.2640389999999 # Commanded vehicle depth: 992.737003 # Seafloor depth: -1044.343955 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.06; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.11; MB_Bottom_Detect_Filter_Max_Range = 221.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.981761 meters # Minimum depth: 1035.915003 meters looking forward 100.000000 meters along route # Maximum depth: 1046.156152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.915003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.892594; longitude = -117.786414; captureRadius = 10; duration = 209; initialDepth = 987.556514; finalDepth = 985.915003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4975489999999 # Actual altitude: 57.4975489999999 # Commanded vehicle depth: 985.915003 # Seafloor depth: -1043.412552 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 229.99; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.00; MB_Bottom_Detect_Filter_Max_Range = 229.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.083317 meters # Minimum depth: 1037.556514 meters looking forward 100.000000 meters along route # Maximum depth: 1057.096301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.556514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893129; longitude = -117.785488; captureRadius = 10; duration = 210; initialDepth = 1007.121010; finalDepth = 987.556514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4975489999999 # Actual altitude: 57.4975489999999 # Commanded vehicle depth: 987.556514 # Seafloor depth: -1037.556514 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 229.99; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.00; MB_Bottom_Detect_Filter_Max_Range = 229.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.878876 meters # Minimum depth: 1057.121010 meters looking forward 100.000000 meters along route # Maximum depth: 1062.700665 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.121010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.893664; longitude = -117.784560; captureRadius = 10; duration = 209; initialDepth = 1011.630782; finalDepth = 1007.121010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1007.12101 # Seafloor depth: -1057.121010 # 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 107.173059 meters # Minimum depth: 1061.630782 meters looking forward 100.000000 meters along route # Maximum depth: 1074.919989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.630782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894198; longitude = -117.783635; captureRadius = 10; duration = 214; initialDepth = 1020.356787; finalDepth = 1011.630782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1011.630782 # Seafloor depth: -1061.630782 # 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 102.787360 meters # Minimum depth: 1070.356787 meters looking forward 100.000000 meters along route # Maximum depth: 1074.899939 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.356787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.894744; longitude = -117.782689; captureRadius = 10; duration = 205; initialDepth = 1013.168437; finalDepth = 1020.356787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.543152 # Actual altitude: 54.543152 # Commanded vehicle depth: 1020.356787 # Seafloor depth: -1074.899939 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.17; 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 = 218.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 109.262767 meters # Minimum depth: 1063.168437 meters looking forward 100.000000 meters along route # Maximum depth: 1071.430476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.168437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895268; longitude = -117.781782; captureRadius = 10; duration = 218; initialDepth = 1012.873142; finalDepth = 1013.168437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.262039 # Actual altitude: 58.262039 # Commanded vehicle depth: 1013.168437 # Seafloor depth: -1071.430476 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 233.05; 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 = 233.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.695880 meters # Minimum depth: 1062.873142 meters looking forward 100.000000 meters along route # Maximum depth: 1066.437520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.873142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.895824; longitude = -117.780818; captureRadius = 10; duration = 201; initialDepth = 1012.520643; finalDepth = 1012.873142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.262039 # Actual altitude: 58.262039 # Commanded vehicle depth: 1012.873142 # Seafloor depth: -1062.873142 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 233.05; 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 = 233.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.978658 meters # Minimum depth: 1062.520643 meters looking forward 100.000000 meters along route # Maximum depth: 1063.282788 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.520643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896337; longitude = -117.779929; captureRadius = 10; duration = 209; initialDepth = 1007.463965; finalDepth = 1012.520643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6166209999999 # Actual altitude: 50.6166209999999 # Commanded vehicle depth: 1012.520643 # Seafloor depth: -1063.137264 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.47; 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 = 202.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.978215 meters # Minimum depth: 1057.463965 meters looking forward 100.000000 meters along route # Maximum depth: 1062.113198 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.463965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.896871; longitude = -117.779003; captureRadius = 10; duration = 209; initialDepth = 1007.662128; finalDepth = 1007.463965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6492330000001 # Actual altitude: 54.6492330000001 # Commanded vehicle depth: 1007.463965 # Seafloor depth: -1062.113198 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.60; 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 = 218.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.977773 meters # Minimum depth: 1057.662128 meters looking forward 100.000000 meters along route # Maximum depth: 1059.403739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.662128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897406; longitude = -117.778077; captureRadius = 10; duration = 209; initialDepth = 1008.323901; finalDepth = 1007.662128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6492330000001 # Actual altitude: 54.6492330000001 # Commanded vehicle depth: 1007.662128 # Seafloor depth: -1057.662128 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.60; 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 = 218.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.977329 meters # Minimum depth: 1058.323901 meters looking forward 100.000000 meters along route # Maximum depth: 1059.108492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.323901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897941; longitude = -117.777150; captureRadius = 10; duration = 209; initialDepth = 1006.139698; finalDepth = 1008.323901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6383579999999 # Actual altitude: 50.6383579999999 # Commanded vehicle depth: 1008.323901 # Seafloor depth: -1058.962259 # 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 = 20.26; 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 5 # Segment length 104.976886 meters # Minimum depth: 1056.139698 meters looking forward 100.000000 meters along route # Maximum depth: 1058.143596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.139698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898475; longitude = -117.776224; captureRadius = 10; duration = 209; initialDepth = 1006.578112; finalDepth = 1006.139698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0038979999999 # Actual altitude: 52.0038979999999 # Commanded vehicle depth: 1006.139698 # Seafloor depth: -1058.143596 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.02; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 208.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.976442 meters # Minimum depth: 1056.578112 meters looking forward 100.000000 meters along route # Maximum depth: 1057.154241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.578112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899010; longitude = -117.775297; captureRadius = 10; duration = 209; initialDepth = 1006.747708; finalDepth = 1006.578112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0038979999999 # Actual altitude: 52.0038979999999 # Commanded vehicle depth: 1006.578112 # Seafloor depth: -1056.983977 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.02; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 208.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.976000 meters # Minimum depth: 1056.747708 meters looking forward 100.000000 meters along route # Maximum depth: 1057.681187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.747708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899545; longitude = -117.774371; captureRadius = 10; duration = 209; initialDepth = 1005.215489; finalDepth = 1006.747708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4058650000002 # Actual altitude: 50.4058650000002 # Commanded vehicle depth: 1006.747708 # Seafloor depth: -1056.747708 # 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 104.975557 meters # Minimum depth: 1055.215489 meters looking forward 100.000000 meters along route # Maximum depth: 1056.225450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.215489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900079; longitude = -117.773445; captureRadius = 10; duration = 209; initialDepth = 1005.211642; finalDepth = 1005.215489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.009961 # Actual altitude: 51.009961 # Commanded vehicle depth: 1005.215489 # Seafloor depth: -1056.225450 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.04; 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 = 204.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.975113 meters # Minimum depth: 1055.211642 meters looking forward 100.000000 meters along route # Maximum depth: 1056.199995 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.211642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900614; longitude = -117.772518; captureRadius = 10; duration = 209; initialDepth = 1005.202613; finalDepth = 1005.211642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.009961 # Actual altitude: 51.009961 # Commanded vehicle depth: 1005.211642 # Seafloor depth: -1055.232906 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.04; 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 = 204.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.609859 meters # Minimum depth: 1055.202613 meters looking forward 100.000000 meters along route # Maximum depth: 1055.847418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.202613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901148; longitude = -117.771592; captureRadius = 10; duration = 211; initialDepth = 1005.316118; finalDepth = 1005.202613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.086859 # Actual altitude: 50.086859 # Commanded vehicle depth: 1005.202613 # Seafloor depth: -1055.289472 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.35; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.339040 meters # Minimum depth: 1055.316118 meters looking forward 100.000000 meters along route # Maximum depth: 1056.281754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.316118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901686; longitude = -117.770660; captureRadius = 10; duration = 208; initialDepth = 1003.682325; finalDepth = 1005.316118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2660600000002 # Actual altitude: 50.2660600000002 # Commanded vehicle depth: 1005.316118 # Seafloor depth: -1055.582178 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.06; 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 = 201.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.699464 meters # Minimum depth: 1053.682325 meters looking forward 100.000000 meters along route # Maximum depth: 1055.882665 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.682325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902218; longitude = -117.769739; captureRadius = 10; duration = 215; initialDepth = 1003.786505; finalDepth = 1003.682325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.084435 # Actual altitude: 52.084435 # Commanded vehicle depth: 1003.682325 # Seafloor depth: -1055.766760 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.34; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 102.247662 meters # Minimum depth: 1053.786505 meters looking forward 100.000000 meters along route # Maximum depth: 1055.919904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.786505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.902766; longitude = -117.768789; captureRadius = 10; duration = 204; initialDepth = 1003.381982; finalDepth = 1003.786505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.084435 # Actual altitude: 52.084435 # Commanded vehicle depth: 1003.786505 # Seafloor depth: -1054.105206 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.34; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 109.789036 meters # Minimum depth: 1053.381982 meters looking forward 100.000000 meters along route # Maximum depth: 1054.822230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.381982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903287; longitude = -117.767886; captureRadius = 10; duration = 219; initialDepth = 1001.794124; finalDepth = 1003.381982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5267779999999 # Actual altitude: 50.5267779999999 # Commanded vehicle depth: 1003.381982 # Seafloor depth: -1053.908760 # 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 5 # Segment length 100.156318 meters # Minimum depth: 1051.794124 meters looking forward 100.000000 meters along route # Maximum depth: 1053.504565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.794124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903846; longitude = -117.766918; captureRadius = 10; duration = 200; initialDepth = 1001.150645; finalDepth = 1001.794124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.445504 # Actual altitude: 51.445504 # Commanded vehicle depth: 1001.794124 # Seafloor depth: -1053.239628 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.78; 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 = 205.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.972012 meters # Minimum depth: 1051.150645 meters looking forward 100.000000 meters along route # Maximum depth: 1051.905852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.150645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904356; longitude = -117.766034; captureRadius = 10; duration = 209; initialDepth = 1000.794070; finalDepth = 1001.150645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.445504 # Actual altitude: 51.445504 # Commanded vehicle depth: 1001.150645 # Seafloor depth: -1051.905852 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.78; 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 = 205.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.971570 meters # Minimum depth: 1050.794070 meters looking forward 100.000000 meters along route # Maximum depth: 1052.022199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.794070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904891; longitude = -117.765107; captureRadius = 10; duration = 209; initialDepth = 999.216214; finalDepth = 1000.794070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7552070000002 # Actual altitude: 50.7552070000002 # Commanded vehicle depth: 1000.79407 # Seafloor depth: -1050.840437 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.02; 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 = 203.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.971127 meters # Minimum depth: 1049.216214 meters looking forward 100.000000 meters along route # Maximum depth: 1052.646778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.216214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905425; longitude = -117.764181; captureRadius = 10; duration = 209; initialDepth = 1001.044977; finalDepth = 999.216214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1894949999999 # Actual altitude: 52.1894949999999 # Commanded vehicle depth: 999.216214 # Seafloor depth: -1051.405709 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.76; 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 = 208.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.970684 meters # Minimum depth: 1051.044977 meters looking forward 100.000000 meters along route # Maximum depth: 1053.843041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.044977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905960; longitude = -117.763255; captureRadius = 10; duration = 209; initialDepth = 999.990648; finalDepth = 1001.044977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1894949999999 # Actual altitude: 52.1894949999999 # Commanded vehicle depth: 1001.044977 # Seafloor depth: -1051.655050 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.76; 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 = 208.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.970241 meters # Minimum depth: 1049.990648 meters looking forward 100.000000 meters along route # Maximum depth: 1052.426998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.990648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906495; longitude = -117.762328; captureRadius = 10; duration = 209; initialDepth = 1001.049891; finalDepth = 999.990648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4363499999999 # Actual altitude: 52.4363499999999 # Commanded vehicle depth: 999.990648 # Seafloor depth: -1052.426998 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.75; 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 = 209.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.969798 meters # Minimum depth: 1051.049891 meters looking forward 100.000000 meters along route # Maximum depth: 1052.307982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.049891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907029; longitude = -117.761402; captureRadius = 10; duration = 209; initialDepth = 1000.966931; finalDepth = 1001.049891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4363499999999 # Actual altitude: 52.4363499999999 # Commanded vehicle depth: 1001.049891 # Seafloor depth: -1051.891678 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.75; 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 = 209.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.969355 meters # Minimum depth: 1050.966931 meters looking forward 100.000000 meters along route # Maximum depth: 1054.074649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.966931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907564; longitude = -117.760475; captureRadius = 10; duration = 209; initialDepth = 1002.948097; finalDepth = 1000.966931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8417870000001 # Actual altitude: 50.8417870000001 # Commanded vehicle depth: 1000.966931 # Seafloor depth: -1050.966931 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.37; 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 = 203.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.968912 meters # Minimum depth: 1052.948097 meters looking forward 100.000000 meters along route # Maximum depth: 1053.724065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.948097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908099; longitude = -117.759549; captureRadius = 10; duration = 209; initialDepth = 1002.810191; finalDepth = 1002.948097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7759680000001 # Actual altitude: 50.7759680000001 # Commanded vehicle depth: 1002.948097 # Seafloor depth: -1053.724065 # 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 5 # Segment length 104.968470 meters # Minimum depth: 1052.810191 meters looking forward 100.000000 meters along route # Maximum depth: 1054.549004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.810191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908633; longitude = -117.758623; captureRadius = 10; duration = 209; initialDepth = 1003.137363; finalDepth = 1002.810191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7759680000001 # Actual altitude: 50.7759680000001 # Commanded vehicle depth: 1002.810191 # Seafloor depth: -1052.973569 # 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 5 # Segment length 106.136335 meters # Minimum depth: 1053.137363 meters looking forward 100.000000 meters along route # Maximum depth: 1055.536795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.137363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909168; longitude = -117.757696; captureRadius = 10; duration = 212; initialDepth = 1003.084306; finalDepth = 1003.137363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.661343 # Actual altitude: 50.661343 # Commanded vehicle depth: 1003.137363 # Seafloor depth: -1053.798706 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.65; 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 = 202.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 103.799275 meters # Minimum depth: 1053.084306 meters looking forward 100.000000 meters along route # Maximum depth: 1055.739783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.084306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909708; longitude = -117.756760; captureRadius = 10; duration = 207; initialDepth = 1002.886546; finalDepth = 1003.084306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.661343 # Actual altitude: 50.661343 # Commanded vehicle depth: 1003.084306 # Seafloor depth: -1053.084306 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.65; 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 = 202.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 108.225806 meters # Minimum depth: 1052.886546 meters looking forward 100.000000 meters along route # Maximum depth: 1055.435559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.886546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910237; longitude = -117.755844; captureRadius = 10; duration = 216; initialDepth = 1001.440732; finalDepth = 1002.886546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5490130000001 # Actual altitude: 52.5490130000001 # Commanded vehicle depth: 1002.886546 # Seafloor depth: -1055.435559 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.20; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.02; MB_Bottom_Detect_Filter_Max_Range = 210.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 101.708033 meters # Minimum depth: 1051.440732 meters looking forward 100.000000 meters along route # Maximum depth: 1054.128449 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.440732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910788; longitude = -117.754888; captureRadius = 10; duration = 203; initialDepth = 994.151006; finalDepth = 1001.440732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5490130000001 # Actual altitude: 52.5490130000001 # Commanded vehicle depth: 1001.440732 # Seafloor depth: -1053.537378 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.20; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.02; MB_Bottom_Detect_Filter_Max_Range = 210.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.966256 meters # Minimum depth: 1044.151006 meters looking forward 100.000000 meters along route # Maximum depth: 1050.861042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.151006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911306; longitude = -117.753991; captureRadius = 10; duration = 209; initialDepth = 985.684143; finalDepth = 994.151006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.7100359999999 # Actual altitude: 56.7100359999999 # Commanded vehicle depth: 994.151006 # Seafloor depth: -1050.861042 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 226.84; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.68; MB_Bottom_Detect_Filter_Max_Range = 226.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.965813 meters # Minimum depth: 1035.684143 meters looking forward 100.000000 meters along route # Maximum depth: 1042.877884 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.684143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911841; longitude = -117.753064; captureRadius = 10; duration = 209; initialDepth = 983.429716; finalDepth = 985.684143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.193741 # Actual altitude: 57.193741 # Commanded vehicle depth: 985.684143 # Seafloor depth: -1042.877884 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 228.77; 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 = 228.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.965370 meters # Minimum depth: 1033.429716 meters looking forward 100.000000 meters along route # Maximum depth: 1035.665912 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.429716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912376; longitude = -117.752138; captureRadius = 10; duration = 209; initialDepth = 979.833450; finalDepth = 983.429716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.193741 # Actual altitude: 57.193741 # Commanded vehicle depth: 983.429716 # Seafloor depth: -1035.665912 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 228.77; 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 = 228.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.964927 meters # Minimum depth: 1029.833450 meters looking forward 100.000000 meters along route # Maximum depth: 1032.537340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.833450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912910; longitude = -117.751212; captureRadius = 10; duration = 209; initialDepth = 977.672121; finalDepth = 979.833450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2361959999998 # Actual altitude: 52.2361959999998 # Commanded vehicle depth: 979.83345 # Seafloor depth: -1031.082723 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.94; 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 = 208.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.964485 meters # Minimum depth: 1027.672121 meters looking forward 100.000000 meters along route # Maximum depth: 1030.812426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.672121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913445; longitude = -117.750285; captureRadius = 10; duration = 209; initialDepth = 963.254525; finalDepth = 977.672121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9243669999998 # Actual altitude: 51.9243669999998 # Commanded vehicle depth: 977.672121 # Seafloor depth: -1029.596488 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.70; 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 = 207.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.964042 meters # Minimum depth: 1013.254525 meters looking forward 100.000000 meters along route # Maximum depth: 1025.594413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.254525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913980; longitude = -117.749359; captureRadius = 10; duration = 209; initialDepth = 963.682796; finalDepth = 963.254525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.3398880000001 # Actual altitude: 62.3398880000001 # Commanded vehicle depth: 963.254525 # Seafloor depth: -1025.594413 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 249.36; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.94; MB_Bottom_Detect_Filter_Max_Range = 249.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.963599 meters # Minimum depth: 1013.682796 meters looking forward 100.000000 meters along route # Maximum depth: 1015.949210 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.682796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914514; longitude = -117.748432; captureRadius = 10; duration = 209; initialDepth = 926.820159; finalDepth = 963.682796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.3398880000001 # Actual altitude: 62.3398880000001 # Commanded vehicle depth: 963.682796 # Seafloor depth: -1013.682796 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 249.36; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.94; MB_Bottom_Detect_Filter_Max_Range = 249.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.963156 meters # Minimum depth: 976.820159 meters looking forward 100.000000 meters along route # Maximum depth: 1021.602718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.820159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915049; longitude = -117.747506; captureRadius = 10; duration = 209; initialDepth = 926.754144; finalDepth = 926.820159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.234135 # Actual altitude: 87.234135 # Commanded vehicle depth: 926.820159 # Seafloor depth: -1014.054294 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 348.94; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.89; MB_Bottom_Detect_Filter_Max_Range = 348.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 348.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.962714 meters # Minimum depth: 976.754144 meters looking forward 100.000000 meters along route # Maximum depth: 999.245169 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.754144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915583; longitude = -117.746580; captureRadius = 10; duration = 209; initialDepth = 937.817126; finalDepth = 926.754144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.234135 # Actual altitude: 87.234135 # Commanded vehicle depth: 926.754144 # Seafloor depth: -976.754144 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 348.94; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.89; MB_Bottom_Detect_Filter_Max_Range = 348.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 348.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 113.456975 meters # Minimum depth: 987.817126 meters looking forward 100.000000 meters along route # Maximum depth: 1009.784540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.817126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916118; longitude = -117.745653; captureRadius = 10; duration = 226; initialDepth = 951.834579; finalDepth = 937.817126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.589672 # Actual altitude: 54.589672 # Commanded vehicle depth: 937.817126 # Seafloor depth: -992.406798 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 218.36; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 218.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.36; 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 4 # Segment length 175.936026 meters # Minimum depth: 1001.834579 meters looking forward 100.000000 meters along route # Maximum depth: 1016.108589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.834579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916696; longitude = -117.744652; captureRadius = 10; duration = 351; # abortOnTimeout = True; initialDepth = 943.303946; finalDepth = 951.834579; 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: 54.589672 # Actual altitude: 54.589672 # Commanded vehicle depth: 951.834579 # Seafloor depth: -1001.834579 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 218.36; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 218.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 153.310036 meters # Minimum depth: 993.303946 meters looking forward 100.000000 meters along route # Maximum depth: 1017.640370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.303946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915540; longitude = -117.743363; captureRadius = 10; duration = 306; # abortOnTimeout = True; initialDepth = 967.622364; finalDepth = 943.303946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.318719 # Actual altitude: 70.318719 # Commanded vehicle depth: 943.303946 # Seafloor depth: -1013.622665 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 281.27; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.13; MB_Bottom_Detect_Filter_Max_Range = 281.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 108.065143 meters # Minimum depth: 1017.622364 meters looking forward 100.000000 meters along route # Maximum depth: 1023.443194 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.622364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914782; longitude = -117.744734; captureRadius = 10; duration = 216; initialDepth = 974.468278; finalDepth = 967.622364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.318719 # Actual altitude: 70.318719 # Commanded vehicle depth: 967.622364 # Seafloor depth: -1017.622364 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 281.27; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.13; MB_Bottom_Detect_Filter_Max_Range = 281.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 108.065610 meters # Minimum depth: 1024.468278 meters looking forward 100.000000 meters along route # Maximum depth: 1030.415513 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.468278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914247; longitude = -117.745700; captureRadius = 10; duration = 216; initialDepth = 965.058408; finalDepth = 974.468278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 974.468278 # Seafloor depth: -1024.468278 # 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 112.326925 meters # Minimum depth: 1015.058408 meters looking forward 100.000000 meters along route # Maximum depth: 1030.368673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.058408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913712; longitude = -117.746666; captureRadius = 10; duration = 224; initialDepth = 978.135664; finalDepth = 965.058408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.881827 # Actual altitude: 61.881827 # Commanded vehicle depth: 965.058408 # Seafloor depth: -1026.940235 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 247.53; 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 = 247.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 103.805702 meters # Minimum depth: 1028.135664 meters looking forward 100.000000 meters along route # Maximum depth: 1035.677281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.135664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913157; longitude = -117.747671; captureRadius = 10; duration = 207; initialDepth = 986.350605; finalDepth = 978.135664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.881827 # Actual altitude: 61.881827 # Commanded vehicle depth: 978.135664 # Seafloor depth: -1032.364050 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 247.53; 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 = 247.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 108.067015 meters # Minimum depth: 1036.350605 meters looking forward 100.000000 meters along route # Maximum depth: 1043.686229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.350605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912643; longitude = -117.748599; captureRadius = 10; duration = 216; initialDepth = 984.778551; finalDepth = 986.350605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.228386 # Actual altitude: 54.228386 # Commanded vehicle depth: 986.350605 # Seafloor depth: -1037.884970 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.91; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.69; MB_Bottom_Detect_Filter_Max_Range = 216.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 108.067484 meters # Minimum depth: 1034.778551 meters looking forward 100.000000 meters along route # Maximum depth: 1037.918819 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.778551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912108; longitude = -117.749565; captureRadius = 10; duration = 216; initialDepth = 986.434446; finalDepth = 984.778551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.778366 # Actual altitude: 51.778366 # Commanded vehicle depth: 984.778551 # Seafloor depth: -1036.556917 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.11; 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 = 207.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 108.067953 meters # Minimum depth: 1036.434446 meters looking forward 100.000000 meters along route # Maximum depth: 1038.332255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.434446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911574; longitude = -117.750532; captureRadius = 10; duration = 216; initialDepth = 988.280792; finalDepth = 986.434446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.778366 # Actual altitude: 51.778366 # Commanded vehicle depth: 986.434446 # Seafloor depth: -1038.024977 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.11; 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 = 207.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 110.112740 meters # Minimum depth: 1038.280792 meters looking forward 100.000000 meters along route # Maximum depth: 1042.452914 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.280792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911039; longitude = -117.751498; captureRadius = 10; duration = 220; initialDepth = 992.573167; finalDepth = 988.280792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5905310000001 # Actual altitude: 51.5905310000001 # Commanded vehicle depth: 988.280792 # Seafloor depth: -1038.280792 # 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 3 # Segment length 106.024569 meters # Minimum depth: 1042.573167 meters looking forward 100.000000 meters along route # Maximum depth: 1050.615591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.573167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910494; longitude = -117.752483; captureRadius = 10; duration = 212; initialDepth = 1001.059073; finalDepth = 992.573167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 992.573167 # Seafloor depth: -1042.573167 # 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 108.069358 meters # Minimum depth: 1051.059073 meters looking forward 100.000000 meters along route # Maximum depth: 1051.845022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.059073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909970; longitude = -117.753431; captureRadius = 10; duration = 216; initialDepth = 1001.294830; finalDepth = 1001.059073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4694120000001 # Actual altitude: 50.4694120000001 # Commanded vehicle depth: 1001.059073 # Seafloor depth: -1051.528485 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.88; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 114.763447 meters # Minimum depth: 1051.294830 meters looking forward 100.000000 meters along route # Maximum depth: 1053.956772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.294830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909435; longitude = -117.754397; captureRadius = 10; duration = 229; initialDepth = 1002.983848; finalDepth = 1001.294830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4694120000001 # Actual altitude: 50.4694120000001 # Commanded vehicle depth: 1001.29483 # Seafloor depth: -1051.294830 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.88; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.376673 meters # Minimum depth: 1052.983848 meters looking forward 100.000000 meters along route # Maximum depth: 1054.310665 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.983848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908867; longitude = -117.755423; captureRadius = 10; duration = 202; initialDepth = 1001.285448; finalDepth = 1002.983848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3268169999999 # Actual altitude: 51.3268169999999 # Commanded vehicle depth: 1002.983848 # Seafloor depth: -1054.310665 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.31; 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 = 205.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 108.070763 meters # Minimum depth: 1051.285448 meters looking forward 100.000000 meters along route # Maximum depth: 1054.888551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.285448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908366; longitude = -117.756329; captureRadius = 10; duration = 216; initialDepth = 1003.077646; finalDepth = 1001.285448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.386892 # Actual altitude: 52.386892 # Commanded vehicle depth: 1001.285448 # Seafloor depth: -1053.672340 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.55; 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 = 209.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 108.071231 meters # Minimum depth: 1053.077646 meters looking forward 100.000000 meters along route # Maximum depth: 1054.507519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.077646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907831; longitude = -117.757296; captureRadius = 10; duration = 216; initialDepth = 1003.560874; finalDepth = 1003.077646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.386892 # Actual altitude: 52.386892 # Commanded vehicle depth: 1003.077646 # Seafloor depth: -1053.879832 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.55; 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 = 209.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 108.071700 meters # Minimum depth: 1053.560874 meters looking forward 100.000000 meters along route # Maximum depth: 1054.710917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.560874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907297; longitude = -117.758262; captureRadius = 10; duration = 216; initialDepth = 1002.331964; finalDepth = 1003.560874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8021860000001 # Actual altitude: 50.8021860000001 # Commanded vehicle depth: 1003.560874 # Seafloor depth: -1053.671154 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.21; 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 = 203.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 112.549239 meters # Minimum depth: 1052.331964 meters looking forward 100.000000 meters along route # Maximum depth: 1054.509156 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.331964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906762; longitude = -117.759228; captureRadius = 10; duration = 225; initialDepth = 1001.887708; finalDepth = 1002.331964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.295492 # Actual altitude: 51.295492 # Commanded vehicle depth: 1002.331964 # Seafloor depth: -1053.627456 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.18; 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 = 205.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 119.588157 meters # Minimum depth: 1051.887708 meters looking forward 100.000000 meters along route # Maximum depth: 1053.116477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.887708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906205; longitude = -117.760235; captureRadius = 10; duration = 239; initialDepth = 999.702448; finalDepth = 1001.887708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.295492 # Actual altitude: 51.295492 # Commanded vehicle depth: 1001.887708 # Seafloor depth: -1053.116477 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.18; 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 = 205.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 120.013401 meters # Minimum depth: 1049.702448 meters looking forward 100.000000 meters along route # Maximum depth: 1051.975407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.702448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905614; longitude = -117.761304; captureRadius = 10; duration = 240; initialDepth = 1000.380341; finalDepth = 999.702448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.5960809999999 # Actual altitude: 51.5960809999999 # Commanded vehicle depth: 999.702448 # Seafloor depth: -1051.298529 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 206.38; 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 = 206.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.38; 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 126.307387 meters # Minimum depth: 1050.380341 meters looking forward 100.000000 meters along route # Maximum depth: 1052.823720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.380341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905020; longitude = -117.762377; captureRadius = 10; duration = 252; # abortOnTimeout = True; initialDepth = 998.650464; finalDepth = 1000.380341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5960809999999 # Actual altitude: 51.5960809999999 # Commanded vehicle depth: 1000.380341 # Seafloor depth: -1050.380341 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.38; 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 = 206.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.366030 meters # Minimum depth: 1048.650464 meters looking forward 100.000000 meters along route # Maximum depth: 1052.842297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.650464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905693; longitude = -117.763467; captureRadius = 10; duration = 200; initialDepth = 993.744014; finalDepth = 998.650464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1918329999999 # Actual altitude: 54.1918329999999 # Commanded vehicle depth: 998.650464 # Seafloor depth: -1052.842297 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.77; 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 = 216.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.365655 meters # Minimum depth: 1043.744014 meters looking forward 100.000000 meters along route # Maximum depth: 1049.282361 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.744014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906227; longitude = -117.764333; captureRadius = 10; duration = 200; initialDepth = 987.420333; finalDepth = 993.744014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.5383469999999 # Actual altitude: 55.5383469999999 # Commanded vehicle depth: 993.744014 # Seafloor depth: -1049.282361 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.15; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.22; MB_Bottom_Detect_Filter_Max_Range = 222.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.365278 meters # Minimum depth: 1037.420333 meters looking forward 100.000000 meters along route # Maximum depth: 1043.269322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.420333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906762; longitude = -117.765199; captureRadius = 10; duration = 200; initialDepth = 976.959937; finalDepth = 987.420333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8489890000001 # Actual altitude: 55.8489890000001 # Commanded vehicle depth: 987.420333 # Seafloor depth: -1043.269322 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 223.40; 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 = 223.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.364904 meters # Minimum depth: 1026.959937 meters looking forward 100.000000 meters along route # Maximum depth: 1036.963826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.959937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907297; longitude = -117.766065; captureRadius = 10; duration = 200; initialDepth = 975.034751; finalDepth = 976.959937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.0038889999998 # Actual altitude: 60.0038889999998 # Commanded vehicle depth: 976.959937 # Seafloor depth: -1036.963826 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 240.02; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.00; MB_Bottom_Detect_Filter_Max_Range = 240.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.364528 meters # Minimum depth: 1025.034751 meters looking forward 100.000000 meters along route # Maximum depth: 1026.747546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.034751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907831; longitude = -117.766931; captureRadius = 10; duration = 200; initialDepth = 968.692897; finalDepth = 975.034751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.0038889999998 # Actual altitude: 60.0038889999998 # Commanded vehicle depth: 975.034751 # Seafloor depth: -1026.747546 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 240.02; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.00; MB_Bottom_Detect_Filter_Max_Range = 240.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.364152 meters # Minimum depth: 1018.692897 meters looking forward 100.000000 meters along route # Maximum depth: 1024.727959 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.692897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908366; longitude = -117.767797; captureRadius = 10; duration = 200; initialDepth = 965.356937; finalDepth = 968.692897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.035062 # Actual altitude: 56.035062 # Commanded vehicle depth: 968.692897 # Seafloor depth: -1024.727959 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 224.14; 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 = 224.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.363777 meters # Minimum depth: 1015.356937 meters looking forward 100.000000 meters along route # Maximum depth: 1018.275753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.356937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908901; longitude = -117.768663; captureRadius = 10; duration = 200; initialDepth = 961.621343; finalDepth = 965.356937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.035062 # Actual altitude: 56.035062 # Commanded vehicle depth: 965.356937 # Seafloor depth: -1018.275753 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 224.14; 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 = 224.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.363402 meters # Minimum depth: 1011.621343 meters looking forward 100.000000 meters along route # Maximum depth: 1016.095711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.621343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909435; longitude = -117.769529; captureRadius = 10; duration = 200; initialDepth = 959.184207; finalDepth = 961.621343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.474368 # Actual altitude: 54.474368 # Commanded vehicle depth: 961.621343 # Seafloor depth: -1016.095711 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 217.90; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.79; MB_Bottom_Detect_Filter_Max_Range = 217.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.363026 meters # Minimum depth: 1009.184207 meters looking forward 100.000000 meters along route # Maximum depth: 1011.604148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.184207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909970; longitude = -117.770395; captureRadius = 10; duration = 200; initialDepth = 956.562185; finalDepth = 959.184207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.474368 # Actual altitude: 54.474368 # Commanded vehicle depth: 959.184207 # Seafloor depth: -1011.604148 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 217.90; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.79; MB_Bottom_Detect_Filter_Max_Range = 217.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.362650 meters # Minimum depth: 1006.562185 meters looking forward 100.000000 meters along route # Maximum depth: 1008.873250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.562185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910504; longitude = -117.771261; captureRadius = 10; duration = 200; initialDepth = 958.117368; finalDepth = 956.562185; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.419941 # Actual altitude: 52.419941 # Commanded vehicle depth: 956.562185 # Seafloor depth: -1008.873250 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.68; 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 = 209.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.362275 meters # Minimum depth: 1008.117368 meters looking forward 100.000000 meters along route # Maximum depth: 1009.379605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.117368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911039; longitude = -117.772128; captureRadius = 10; duration = 200; initialDepth = 955.590497; finalDepth = 958.117368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.311065 # Actual altitude: 52.311065 # Commanded vehicle depth: 958.117368 # Seafloor depth: -1008.570460 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.24; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 209.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.361900 meters # Minimum depth: 1005.590497 meters looking forward 100.000000 meters along route # Maximum depth: 1006.974101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.590497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911574; longitude = -117.772994; captureRadius = 10; duration = 200; initialDepth = 955.189975; finalDepth = 955.590497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.383604 # Actual altitude: 51.383604 # Commanded vehicle depth: 955.590497 # Seafloor depth: -1006.974101 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.53; 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 = 205.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.361524 meters # Minimum depth: 1005.189975 meters looking forward 100.000000 meters along route # Maximum depth: 1005.969558 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.189975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912108; longitude = -117.773860; captureRadius = 10; duration = 200; initialDepth = 954.780798; finalDepth = 955.189975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.383604 # Actual altitude: 51.383604 # Commanded vehicle depth: 955.189975 # Seafloor depth: -1005.189975 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.53; 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 = 205.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.361149 meters # Minimum depth: 1004.780798 meters looking forward 100.000000 meters along route # Maximum depth: 1006.136640 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.780798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912643; longitude = -117.774726; captureRadius = 10; duration = 200; initialDepth = 954.094589; finalDepth = 954.780798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.689254 # Actual altitude: 50.689254 # Commanded vehicle depth: 954.780798 # Seafloor depth: -1005.470052 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.76; 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 = 202.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.360774 meters # Minimum depth: 1004.094589 meters looking forward 100.000000 meters along route # Maximum depth: 1005.719052 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.094589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913178; longitude = -117.775592; captureRadius = 10; duration = 200; initialDepth = 955.051621; finalDepth = 954.094589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.09226 # Actual altitude: 51.09226 # Commanded vehicle depth: 954.094589 # Seafloor depth: -1005.186849 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.37; 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 = 204.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.360398 meters # Minimum depth: 1005.051621 meters looking forward 100.000000 meters along route # Maximum depth: 1006.043737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.051621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913712; longitude = -117.776458; captureRadius = 10; duration = 200; initialDepth = 955.526153; finalDepth = 955.051621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.09226 # Actual altitude: 51.09226 # Commanded vehicle depth: 955.051621 # Seafloor depth: -1005.949245 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.37; 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 = 204.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.360022 meters # Minimum depth: 1005.526153 meters looking forward 100.000000 meters along route # Maximum depth: 1006.850397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.526153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914247; longitude = -117.777324; captureRadius = 10; duration = 200; initialDepth = 956.166332; finalDepth = 955.526153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2924849999999 # Actual altitude: 51.2924849999999 # Commanded vehicle depth: 955.526153 # Seafloor depth: -1006.818638 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.17; 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 = 205.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.359648 meters # Minimum depth: 1006.166332 meters looking forward 100.000000 meters along route # Maximum depth: 1006.526883 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.166332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914782; longitude = -117.778190; captureRadius = 10; duration = 200; initialDepth = 956.254883; finalDepth = 956.166332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2924849999999 # Actual altitude: 51.2924849999999 # Commanded vehicle depth: 956.166332 # Seafloor depth: -1006.245760 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.17; 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 = 205.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.359272 meters # Minimum depth: 1006.254883 meters looking forward 100.000000 meters along route # Maximum depth: 1008.341224 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.254883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915316; longitude = -117.779056; captureRadius = 10; duration = 200; initialDepth = 958.275129; finalDepth = 956.254883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.079428 # Actual altitude: 50.079428 # Commanded vehicle depth: 956.254883 # Seafloor depth: -1006.254883 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.32; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.807853 meters # Minimum depth: 1008.275129 meters looking forward 100.000000 meters along route # Maximum depth: 1010.635708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.275129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915851; longitude = -117.779922; captureRadius = 10; duration = 207; initialDepth = 960.001724; finalDepth = 958.275129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.116215 # Actual altitude: 51.116215 # Commanded vehicle depth: 958.275129 # Seafloor depth: -1009.391344 # 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 2 # Segment length 123.904670 meters # Minimum depth: 1010.001724 meters looking forward 100.000000 meters along route # Maximum depth: 1011.852377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.001724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916404; longitude = -117.780818; captureRadius = 10; duration = 247; initialDepth = 961.185526; finalDepth = 960.001724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.116215 # Actual altitude: 51.116215 # Commanded vehicle depth: 960.001724 # Seafloor depth: -1010.940419 # 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 2 # Segment length 108.901713 meters # Minimum depth: 1011.185526 meters looking forward 100.000000 meters along route # Maximum depth: 1012.450744 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.185526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917064; longitude = -117.781887; captureRadius = 10; duration = 217; initialDepth = 962.025283; finalDepth = 961.185526; 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: 50.9386950000001 # Actual altitude: 50.9386950000001 # Commanded vehicle depth: 961.185526 # Seafloor depth: -1011.185526 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 203.75; 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 = 203.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 83.356888 meters # Minimum depth: 1012.025283 meters looking forward 100.000000 meters along route # Maximum depth: 1012.695269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.025283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.917644; longitude = -117.782827; captureRadius = 10; duration = 166; # abortOnTimeout = True; initialDepth = 960.224064; finalDepth = 962.025283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4905100000001 # Actual altitude: 50.4905100000001 # Commanded vehicle depth: 962.025283 # Seafloor depth: -1012.515793 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.96; 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 = 201.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 123.116080 meters # Minimum depth: 1010.224064 meters looking forward 100.000000 meters along route # Maximum depth: 1011.611244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.224064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.916920; longitude = -117.782586; captureRadius = 10; duration = 246; initialDepth = 957.215079; finalDepth = 960.224064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4918290000001 # Actual altitude: 50.4918290000001 # Commanded vehicle depth: 960.224064 # Seafloor depth: -1010.715893 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.97; 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 = 201.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 123.116161 meters # Minimum depth: 1007.215079 meters looking forward 100.000000 meters along route # Maximum depth: 1010.389787 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.215079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.915851; longitude = -117.782231; captureRadius = 10; duration = 246; initialDepth = 957.110048; finalDepth = 957.215079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.174708 # Actual altitude: 53.174708 # Commanded vehicle depth: 957.215079 # Seafloor depth: -1010.389787 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.70; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 212.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 123.116243 meters # Minimum depth: 1007.110048 meters looking forward 100.000000 meters along route # Maximum depth: 1008.049141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.110048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.914782; longitude = -117.781875; captureRadius = 10; duration = 246; initialDepth = 957.019317; finalDepth = 957.110048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.174708 # Actual altitude: 53.174708 # Commanded vehicle depth: 957.110048 # Seafloor depth: -1007.225520 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.70; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 212.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 123.116323 meters # Minimum depth: 1007.019317 meters looking forward 100.000000 meters along route # Maximum depth: 1008.194851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.019317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.913712; longitude = -117.781520; captureRadius = 10; duration = 246; initialDepth = 958.545890; finalDepth = 957.019317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.54591 # Actual altitude: 50.54591 # Commanded vehicle depth: 957.019317 # Seafloor depth: -1007.565227 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.18; 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 = 202.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 123.116405 meters # Minimum depth: 1008.545890 meters looking forward 100.000000 meters along route # Maximum depth: 1010.028430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.545890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.912643; longitude = -117.781165; captureRadius = 10; duration = 246; initialDepth = 959.335965; finalDepth = 958.545890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.77851 # Actual altitude: 50.77851 # Commanded vehicle depth: 958.54589 # Seafloor depth: -1009.324400 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.11; 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 = 203.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 123.116486 meters # Minimum depth: 1009.335965 meters looking forward 100.000000 meters along route # Maximum depth: 1009.830964 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.335965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.911574; longitude = -117.780809; captureRadius = 10; duration = 246; initialDepth = 959.939239; finalDepth = 959.335965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.77851 # Actual altitude: 50.77851 # Commanded vehicle depth: 959.335965 # Seafloor depth: -1009.830964 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.11; 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 = 203.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 123.116567 meters # Minimum depth: 1009.939239 meters looking forward 100.000000 meters along route # Maximum depth: 1013.541234 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.939239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.910504; longitude = -117.780454; captureRadius = 10; duration = 246; initialDepth = 962.849027; finalDepth = 959.939239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.494999 # Actual altitude: 50.494999 # Commanded vehicle depth: 959.939239 # Seafloor depth: -1009.939239 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.98; 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 = 201.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 123.116648 meters # Minimum depth: 1012.849027 meters looking forward 100.000000 meters along route # Maximum depth: 1018.334411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.849027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.909435; longitude = -117.780098; captureRadius = 10; duration = 246; initialDepth = 968.382562; finalDepth = 962.849027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 962.849027 # Seafloor depth: -1012.849027 # 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 123.116730 meters # Minimum depth: 1018.382562 meters looking forward 100.000000 meters along route # Maximum depth: 1021.826933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.382562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.908366; longitude = -117.779743; captureRadius = 10; duration = 246; initialDepth = 972.346714; finalDepth = 968.382562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 968.382562 # Seafloor depth: -1018.382562 # 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 123.116810 meters # Minimum depth: 1022.346714 meters looking forward 100.000000 meters along route # Maximum depth: 1024.127732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.346714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.907297; longitude = -117.779387; captureRadius = 10; duration = 246; initialDepth = 974.842427; finalDepth = 972.346714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 972.346714 # Seafloor depth: -1022.346714 # 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 123.116892 meters # Minimum depth: 1024.842427 meters looking forward 100.000000 meters along route # Maximum depth: 1029.706979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.842427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.906227; longitude = -117.779032; captureRadius = 10; duration = 246; initialDepth = 979.751750; finalDepth = 974.842427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 974.842427 # Seafloor depth: -1024.842427 # 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 123.116973 meters # Minimum depth: 1029.751750 meters looking forward 100.000000 meters along route # Maximum depth: 1032.006594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.751750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.905158; longitude = -117.778676; captureRadius = 10; duration = 246; initialDepth = 981.951511; finalDepth = 979.751750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 979.75175 # Seafloor depth: -1029.751750 # 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 123.117054 meters # Minimum depth: 1031.951511 meters looking forward 100.000000 meters along route # Maximum depth: 1036.719284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.951511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.904089; longitude = -117.778321; captureRadius = 10; duration = 246; initialDepth = 987.770501; finalDepth = 981.951511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 981.951511 # Seafloor depth: -1031.951511 # 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 123.117135 meters # Minimum depth: 1037.770501 meters looking forward 100.000000 meters along route # Maximum depth: 1044.921446 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.770501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.903020; longitude = -117.777966; captureRadius = 10; duration = 246; initialDepth = 994.922494; finalDepth = 987.770501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 987.770501 # Seafloor depth: -1037.770501 # 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 123.117217 meters # Minimum depth: 1044.922494 meters looking forward 100.000000 meters along route # Maximum depth: 1048.109678 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.922494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.901950; longitude = -117.777610; captureRadius = 10; duration = 246; initialDepth = 999.289192; finalDepth = 994.922494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 994.922494 # Seafloor depth: -1044.922494 # 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 123.117297 meters # Minimum depth: 1049.289192 meters looking forward 100.000000 meters along route # Maximum depth: 1052.644954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.289192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.900881; longitude = -117.777255; captureRadius = 10; duration = 246; initialDepth = 1002.310928; finalDepth = 999.289192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 999.289192 # Seafloor depth: -1049.289192 # 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 124.097631 meters # Minimum depth: 1052.310928 meters looking forward 100.000000 meters along route # Maximum depth: 1057.507272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.310928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.899812; longitude = -117.776899; captureRadius = 10; duration = 248; initialDepth = 1006.791669; finalDepth = 1002.310928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1002.310928 # Seafloor depth: -1052.310928 # 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 122.137208 meters # Minimum depth: 1056.791669 meters looking forward 100.000000 meters along route # Maximum depth: 1058.053463 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.791669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.898734; longitude = -117.776541; captureRadius = 10; duration = 244; initialDepth = 1008.211367; finalDepth = 1006.791669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7375529999999 # Actual altitude: 50.7375529999999 # Commanded vehicle depth: 1006.791669 # Seafloor depth: -1057.529222 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.95; 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 = 202.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.396838 meters # Minimum depth: 1058.211367 meters looking forward 100.000000 meters along route # Maximum depth: 1061.840272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1045.356787 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.211367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 32.897673; longitude = -117.776188; captureRadius = 10; duration = 210; initialDepth = 1009.223543; finalDepth = 1008.211367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.7375529999999 # Actual altitude: 50.7375529999999 # Commanded vehicle depth: 1008.211367 # Seafloor depth: -1058.211367 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 202.95; 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 = 202.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.95; 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: 53.9912399999998 # Sonar parameter altitude: 53.9912399999998 # Commanded vehicle depth: 1009.223543 # Seafloor depth: -1063.214783 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 400.000; MB_Power = 220; MB_Range = 215.96; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.60; MB_Bottom_Detect_Filter_Max_Range = 215.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.96; 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 105.396838 meters # Minimum depth: 1059.223543 meters looking forward 100.000000 meters along route # Maximum depth: 1063.214783 meters looking forward 100.000000 meters along route # Vehicle depth: 1009.223543 meters behavior waypoint { latitude = 32.896758; longitude = -117.775884; captureRadius = 10; duration = 1000; depth = 1009.223543; 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 1009.223543 meters set by local depth and desired altitude behavior descend { duration = 3048; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; maxDepth = 1003.214783; 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 105.396838 meters # Minimum depth: 1059.223543 meters looking forward 100.000000 meters along route # Maximum depth: 1063.214783 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 32.896758; longitude = -117.775884; 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 = 39.0; 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 = 39.0; 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; } # ####################################################### ####################################################### ####################################################### #######################################################