# 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_2v4.rte # Mission File: 2010_SanDiegoTrough_2v4.cfg # Distance: 88352.106678 (m) # Estimated Time: 60515 (s) 16.810 (hr) # Abort Time: 62123 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 876 (s) # Way Points: 64 # Route Points: 782 # 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: 788.758282 (m) # Abort Vehicle Depth: 813.758282 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 681.205032 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 -118.128202 33.328509 -741.205032 0.000000 3 # 1 -118.149171 33.367596 -726.223801 4753.073607 4 # 2 -118.141238 33.370593 -732.266113 5562.505581 3 # 3 -118.120272 33.331506 -766.133774 10315.429865 4 # 4 -118.113229 33.336159 -785.724152 11149.634112 3 # 5 -118.137021 33.327170 -751.398102 13578.095098 4 # 6 -118.137683 33.328403 -748.177277 13728.056647 3 # 7 -118.113891 33.337392 -799.594971 16156.489645 4 # 8 -118.114552 33.338626 -806.560135 16306.510510 3 # 9 -118.138344 33.329637 -747.558304 18734.915495 4 # 10 -118.139006 33.330870 -748.337051 18884.876427 3 # 11 -118.115213 33.339860 -808.195969 21313.383795 4 # 12 -118.115875 33.341093 -808.929535 21463.341135 3 # 13 -118.139667 33.332104 -745.011871 23891.690117 4 # 14 -118.140329 33.333337 -747.949509 24041.650431 3 # 15 -118.116536 33.342327 -808.999512 26470.101792 4 # 16 -118.117197 33.343561 -806.138184 26620.121426 3 # 17 -118.140991 33.334571 -744.863129 29048.629639 4 # 18 -118.141652 33.335804 -738.298340 29198.551119 3 # 19 -118.117859 33.344794 -802.579102 31626.946470 4 # 20 -118.118520 33.346028 -799.561523 31776.965489 3 # 21 -118.142314 33.337038 -740.552689 34205.417688 4 # 22 -118.142976 33.338271 -738.891724 34355.376769 3 # 23 -118.119182 33.347261 -797.327148 36783.800972 4 # 24 -118.119843 33.348495 -794.868164 36933.819376 3 # 25 -118.143638 33.339505 -737.401093 39362.300422 4 # 26 -118.144299 33.340738 -733.618637 39512.220672 3 # 27 -118.120505 33.349729 -792.834961 41940.634364 4 # 28 -118.121166 33.350962 -789.979980 42090.551027 3 # 29 -118.144961 33.341972 -738.462814 44518.976051 4 # 30 -118.145623 33.343205 -742.535721 44668.933899 3 # 31 -118.121828 33.352196 -787.203125 47097.376429 4 # 32 -118.122489 33.353430 -784.718750 47247.393601 3 # 33 -118.146285 33.344439 -742.587845 49675.892964 4 # 34 -118.146947 33.345672 -741.045959 49825.850195 3 # 35 -118.123151 33.354663 -781.614746 52254.321556 4 # 36 -118.123813 33.355897 -778.949219 52404.376289 3 # 37 -118.147608 33.346906 -738.376038 54832.734770 4 # 38 -118.148270 33.348139 -739.196884 54982.691385 3 # 39 -118.124474 33.357130 -775.658691 57411.106715 4 # 40 -118.125136 33.358364 -772.000000 57561.160831 3 # 41 -118.148932 33.349373 -738.107483 59989.548135 4 # 42 -118.149594 33.350606 -736.570206 60139.504132 3 # 43 -118.125798 33.359598 -769.340332 62567.908943 4 # 44 -118.126459 33.360831 -765.456055 62717.823142 3 # 45 -118.150256 33.351840 -736.829315 65146.239260 4 # 46 -118.150918 33.353073 -735.580475 65296.194641 3 # 47 -118.127121 33.362065 -762.584961 67724.628264 4 # 48 -118.127783 33.363298 -758.456543 67874.580042 3 # 49 -118.151580 33.354307 -730.285339 70302.940122 4 # 50 -118.152242 33.355540 -731.539185 70452.894886 3 # 51 -118.128444 33.364532 -754.392578 72881.357312 4 # 52 -118.129106 33.365766 -750.958008 73031.409576 3 # 53 -118.152904 33.356774 -729.432617 75459.843969 4 # 54 -118.153566 33.358007 -728.607010 75609.798116 3 # 55 -118.129768 33.366999 -746.504395 78038.204498 4 # 56 -118.130430 33.368233 -743.060059 78188.256144 3 # 57 -118.154228 33.359240 -727.049347 80616.680031 4 # 58 -118.154890 33.360474 -725.057938 80766.734664 3 # 59 -118.131091 33.369466 -738.522949 83195.169837 4 # 60 -118.131753 33.370700 -734.123047 83345.220866 3 # 61 -118.155552 33.361707 -725.540482 85773.673541 4 # 62 -118.156214 33.362941 -724.761566 85923.727558 3 # 63 -118.132415 33.371933 -730.620117 88352.106678 4 # # A total of 782 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 88352.106678 #define MISSION_TIME 60515 #define MISSION_TIMEOUT 62123 #define DEPTH_MAX 788.758282 #define DEPTH_ABORT 813.758282 #define ALTITUDE_DESIRED 50.000000 #define ALTITUDE_MIN 50.000000 #define ALTITUDE_ABORT 30.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define SPIRAL_DESCENT_DEPTH 681.205032 #define SPIRAL_DESCENT_ALTITUDE 50.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 10 #define ASCENDRUDDER 3.000000 #define ASCENDPITCH 45.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 3.000000 #define DESCENDPITCH -30.000000 #define MAXCROSSTRACKERROR 30 #define RESON_DURATION 6 # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = MISSION_TIMEOUT; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = DEPTH_MAX; abortDepth = DEPTH_ABORT; minAltitude = ALTITUDE_MIN; abortAltitude = ALTITUDE_ABORT; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 876; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # 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 = RESON_DURATION; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 63 # Segment length 120.994748 meters # Minimum depth: 730.620117 meters looking forward 100.000000 meters along route # Maximum depth: 732.035925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.620117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.371933; longitude = -118.132415; captureRadius = 10; duration = 241; # abortOnTimeout = True; initialDepth = 682.128985; finalDepth = 680.620117; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 680.620117 # Seafloor depth: -730.620117 # behavior reson { duration = RESON_DURATION; 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 63 # Segment length 102.639065 meters # Minimum depth: 732.128985 meters looking forward 100.000000 meters along route # Maximum depth: 733.104469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.128985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.371485; longitude = -118.133601; captureRadius = 10; duration = 205; initialDepth = 683.439292; finalDepth = 682.128985; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 682.128985 # Seafloor depth: -732.128985 # behavior reson { duration = RESON_DURATION; 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 63 # Segment length 114.878144 meters # Minimum depth: 733.439292 meters looking forward 100.000000 meters along route # Maximum depth: 734.720315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.439292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.371105; longitude = -118.134607; captureRadius = 10; duration = 229; initialDepth = 684.776533; finalDepth = 683.439292; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 683.439292 # Seafloor depth: -733.439292 # behavior reson { duration = RESON_DURATION; 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 63 # Segment length 104.282026 meters # Minimum depth: 734.776533 meters looking forward 100.000000 meters along route # Maximum depth: 735.569253 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.776533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.370679; longitude = -118.135733; captureRadius = 10; duration = 208; initialDepth = 685.837232; finalDepth = 684.776533; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 684.776533 # Seafloor depth: -734.776533 # behavior reson { duration = RESON_DURATION; 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 63 # Segment length 113.236958 meters # Minimum depth: 735.837232 meters looking forward 100.000000 meters along route # Maximum depth: 736.734780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.837232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.370293; longitude = -118.136755; captureRadius = 10; duration = 226; initialDepth = 686.757401; finalDepth = 685.837232; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 685.837232 # Seafloor depth: -735.837232 # behavior reson { duration = RESON_DURATION; 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 63 # Segment length 105.925014 meters # Minimum depth: 736.757401 meters looking forward 100.000000 meters along route # Maximum depth: 737.207774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.757401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.369874; longitude = -118.137864; captureRadius = 10; duration = 211; initialDepth = 687.322919; finalDepth = 686.757401; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 686.757401 # Seafloor depth: -736.757401 # behavior reson { duration = RESON_DURATION; 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 63 # Segment length 111.595745 meters # Minimum depth: 737.322919 meters looking forward 100.000000 meters along route # Maximum depth: 737.541830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.322919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.369482; longitude = -118.138903; captureRadius = 10; duration = 223; initialDepth = 687.412858; finalDepth = 687.322919; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 687.322919 # Seafloor depth: -737.322919 # behavior reson { duration = RESON_DURATION; 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 63 # Segment length 107.568030 meters # Minimum depth: 737.412858 meters looking forward 100.000000 meters along route # Maximum depth: 737.541622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.412858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.369069; longitude = -118.139996; captureRadius = 10; duration = 215; initialDepth = 686.559494; finalDepth = 687.412858; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1287639999999 # Actual altitude: 50.1287639999999 # Commanded vehicle depth: 687.412858 # Seafloor depth: -737.541622 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.52; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.05; MB_Bottom_Detect_Filter_Max_Range = 200.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 109.954504 meters # Minimum depth: 736.559494 meters looking forward 100.000000 meters along route # Maximum depth: 737.295823 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.559494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.368670; longitude = -118.141051; captureRadius = 10; duration = 219; initialDepth = 685.740557; finalDepth = 686.559494; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7363290000001 # Actual altitude: 50.7363290000001 # Commanded vehicle depth: 686.559494 # Seafloor depth: -737.295823 # behavior reson { duration = RESON_DURATION; 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 = 20.29; 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 63 # Segment length 109.211072 meters # Minimum depth: 735.740557 meters looking forward 100.000000 meters along route # Maximum depth: 736.556322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.740557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.368263; longitude = -118.142128; captureRadius = 10; duration = 218; initialDepth = 684.032819; finalDepth = 685.740557; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8157650000001 # Actual altitude: 50.8157650000001 # Commanded vehicle depth: 685.740557 # Seafloor depth: -736.556322 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.26; 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 = 203.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 109.583464 meters # Minimum depth: 734.032819 meters looking forward 100.000000 meters along route # Maximum depth: 735.412745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.032819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.367859; longitude = -118.143198; captureRadius = 10; duration = 219; initialDepth = 682.972958; finalDepth = 684.032819; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.379926 # Actual altitude: 51.379926 # Commanded vehicle depth: 684.032819 # Seafloor depth: -735.412745 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.52; 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 = 205.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 109.583915 meters # Minimum depth: 732.972958 meters looking forward 100.000000 meters along route # Maximum depth: 734.015859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.972958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.367453; longitude = -118.144272; captureRadius = 10; duration = 219; initialDepth = 681.147703; finalDepth = 682.972958; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.379926 # Actual altitude: 51.379926 # Commanded vehicle depth: 682.972958 # Seafloor depth: -734.015859 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.52; 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 = 205.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 109.584365 meters # Minimum depth: 731.147703 meters looking forward 100.000000 meters along route # Maximum depth: 732.615760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.147703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.367047; longitude = -118.145346; captureRadius = 10; duration = 219; initialDepth = 679.854985; finalDepth = 681.147703; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.468057 # Actual altitude: 51.468057 # Commanded vehicle depth: 681.147703 # Seafloor depth: -732.615760 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.87; 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 = 205.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 109.584816 meters # Minimum depth: 729.854985 meters looking forward 100.000000 meters along route # Maximum depth: 731.094713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.854985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.366641; longitude = -118.146420; captureRadius = 10; duration = 219; initialDepth = 681.476957; finalDepth = 679.854985; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.468057 # Actual altitude: 51.468057 # Commanded vehicle depth: 679.854985 # Seafloor depth: -731.094713 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.87; 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 = 205.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 109.585267 meters # Minimum depth: 731.476957 meters looking forward 100.000000 meters along route # Maximum depth: 735.111496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.476957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.366236; longitude = -118.147494; captureRadius = 10; duration = 219; initialDepth = 679.286548; finalDepth = 681.476957; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2397279999999 # Actual altitude: 51.2397279999999 # Commanded vehicle depth: 681.476957 # Seafloor depth: -731.476957 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.96; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 204.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 109.585718 meters # Minimum depth: 729.286548 meters looking forward 100.000000 meters along route # Maximum depth: 732.402706 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.286548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.365830; longitude = -118.148568; captureRadius = 10; duration = 219; initialDepth = 673.118912; finalDepth = 679.286548; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1161579999999 # Actual altitude: 53.1161579999999 # Commanded vehicle depth: 679.286548 # Seafloor depth: -732.402706 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 212.46; 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 = 212.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 109.586168 meters # Minimum depth: 723.118912 meters looking forward 100.000000 meters along route # Maximum depth: 728.247493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.118912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.365424; longitude = -118.149642; captureRadius = 10; duration = 219; initialDepth = 672.960100; finalDepth = 673.118912; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1285809999999 # Actual altitude: 55.1285809999999 # Commanded vehicle depth: 673.118912 # Seafloor depth: -728.247493 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 220.51; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.05; MB_Bottom_Detect_Filter_Max_Range = 220.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 109.586619 meters # Minimum depth: 722.960100 meters looking forward 100.000000 meters along route # Maximum depth: 724.141769 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.960100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.365018; longitude = -118.150716; captureRadius = 10; duration = 219; initialDepth = 668.696723; finalDepth = 672.960100; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1285809999999 # Actual altitude: 55.1285809999999 # Commanded vehicle depth: 672.9601 # Seafloor depth: -722.960100 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 220.51; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.05; MB_Bottom_Detect_Filter_Max_Range = 220.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 109.587070 meters # Minimum depth: 718.696723 meters looking forward 100.000000 meters along route # Maximum depth: 722.056330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 668.696723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364612; longitude = -118.151790; captureRadius = 10; duration = 219; initialDepth = 670.128430; finalDepth = 668.696723; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.359607 # Actual altitude: 53.359607 # Commanded vehicle depth: 668.696723 # Seafloor depth: -722.056330 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 213.44; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.34; MB_Bottom_Detect_Filter_Max_Range = 213.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 109.587520 meters # Minimum depth: 720.128430 meters looking forward 100.000000 meters along route # Maximum depth: 721.480971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 670.128430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364207; longitude = -118.152864; captureRadius = 10; duration = 219; initialDepth = 671.344740; finalDepth = 670.128430; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.359607 # Actual altitude: 53.359607 # Commanded vehicle depth: 670.12843 # Seafloor depth: -720.128430 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 213.44; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.34; MB_Bottom_Detect_Filter_Max_Range = 213.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 109.587972 meters # Minimum depth: 721.344740 meters looking forward 100.000000 meters along route # Maximum depth: 722.710661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.344740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363801; longitude = -118.153938; captureRadius = 10; duration = 219; initialDepth = 672.904220; finalDepth = 671.344740; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.050875 # Actual altitude: 50.050875 # Commanded vehicle depth: 671.34474 # Seafloor depth: -721.395615 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.20; 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 = 200.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 122.650920 meters # Minimum depth: 722.904220 meters looking forward 100.000000 meters along route # Maximum depth: 724.824364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.904220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363395; longitude = -118.155012; captureRadius = 10; duration = 245; initialDepth = 674.761566; finalDepth = 672.904220; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.050875 # Actual altitude: 50.050875 # Commanded vehicle depth: 672.90422 # Seafloor depth: -722.904220 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 200.20; 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 = 200.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 62 # Segment length 150.054017 meters # Minimum depth: 724.761566 meters looking forward 100.000000 meters along route # Maximum depth: 725.969025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.761566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362941; longitude = -118.156214; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 673.847261; finalDepth = 674.761566; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # 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: 674.761566 # Seafloor depth: -724.761566 # behavior reson { duration = RESON_DURATION; 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 61 # Segment length 109.897068 meters # Minimum depth: 723.847261 meters looking forward 100.000000 meters along route # Maximum depth: 725.540482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.847261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361707; longitude = -118.155552; captureRadius = 10; duration = 219; # abortOnTimeout = True; initialDepth = 673.813714; finalDepth = 673.847261; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.693221 # Actual altitude: 51.693221 # Commanded vehicle depth: 673.847261 # Seafloor depth: -725.540482 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.77; 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 = 206.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 109.591343 meters # Minimum depth: 723.813714 meters looking forward 100.000000 meters along route # Maximum depth: 724.277078 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.813714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362114; longitude = -118.154475; captureRadius = 10; duration = 219; initialDepth = 673.175080; finalDepth = 673.813714; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.693221 # Actual altitude: 51.693221 # Commanded vehicle depth: 673.813714 # Seafloor depth: -723.813714 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.77; 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 = 206.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 109.590893 meters # Minimum depth: 723.175080 meters looking forward 100.000000 meters along route # Maximum depth: 724.052655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.175080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362520; longitude = -118.153401; captureRadius = 10; duration = 219; initialDepth = 673.176979; finalDepth = 673.175080; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.877575 # Actual altitude: 50.877575 # Commanded vehicle depth: 673.17508 # Seafloor depth: -724.052655 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.51; 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 = 203.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 109.590441 meters # Minimum depth: 723.176979 meters looking forward 100.000000 meters along route # Maximum depth: 723.976994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.176979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362926; longitude = -118.152327; captureRadius = 10; duration = 219; initialDepth = 671.238021; finalDepth = 673.176979; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.877575 # Actual altitude: 50.877575 # Commanded vehicle depth: 673.176979 # Seafloor depth: -723.855965 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.51; 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 = 203.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 109.589991 meters # Minimum depth: 721.238021 meters looking forward 100.000000 meters along route # Maximum depth: 723.450848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.238021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363331; longitude = -118.151253; captureRadius = 10; duration = 219; initialDepth = 670.114255; finalDepth = 671.238021; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2128269999999 # Actual altitude: 52.2128269999999 # Commanded vehicle depth: 671.238021 # Seafloor depth: -723.450848 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.85; 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 = 208.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 109.589540 meters # Minimum depth: 720.114255 meters looking forward 100.000000 meters along route # Maximum depth: 722.242743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 670.114255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363737; longitude = -118.150179; captureRadius = 10; duration = 219; initialDepth = 672.671045; finalDepth = 670.114255; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2128269999999 # Actual altitude: 52.2128269999999 # Commanded vehicle depth: 670.114255 # Seafloor depth: -722.242743 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.85; 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 = 208.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 109.589089 meters # Minimum depth: 722.671045 meters looking forward 100.000000 meters along route # Maximum depth: 729.277533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.671045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364143; longitude = -118.149105; captureRadius = 10; duration = 219; initialDepth = 679.955656; finalDepth = 672.671045; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1284880000001 # Actual altitude: 52.1284880000001 # Commanded vehicle depth: 672.671045 # Seafloor depth: -722.671045 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.51; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 109.588639 meters # Minimum depth: 729.955656 meters looking forward 100.000000 meters along route # Maximum depth: 731.100540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.955656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364549; longitude = -118.148031; captureRadius = 10; duration = 219; initialDepth = 680.041143; finalDepth = 679.955656; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 679.955656 # Seafloor depth: -729.955656 # behavior reson { duration = RESON_DURATION; 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 61 # Segment length 109.588188 meters # Minimum depth: 730.041143 meters looking forward 100.000000 meters along route # Maximum depth: 733.415583 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.041143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364955; longitude = -118.146957; captureRadius = 10; duration = 219; initialDepth = 683.070719; finalDepth = 680.041143; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.078388 # Actual altitude: 50.078388 # Commanded vehicle depth: 680.041143 # Seafloor depth: -730.119531 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.31; 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 = 200.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 109.587737 meters # Minimum depth: 733.070719 meters looking forward 100.000000 meters along route # Maximum depth: 733.748960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.070719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.365361; longitude = -118.145883; captureRadius = 10; duration = 219; initialDepth = 683.601676; finalDepth = 683.070719; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.678241 # Actual altitude: 50.678241 # Commanded vehicle depth: 683.070719 # Seafloor depth: -733.748960 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.71; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 109.587286 meters # Minimum depth: 733.601676 meters looking forward 100.000000 meters along route # Maximum depth: 735.690615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.601676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.365766; longitude = -118.144809; captureRadius = 10; duration = 219; initialDepth = 686.060106; finalDepth = 683.601676; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.678241 # Actual altitude: 50.678241 # Commanded vehicle depth: 683.601676 # Seafloor depth: -733.601676 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.71; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 109.586836 meters # Minimum depth: 736.060106 meters looking forward 100.000000 meters along route # Maximum depth: 738.061076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.060106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.366172; longitude = -118.143735; captureRadius = 10; duration = 219; initialDepth = 688.683870; finalDepth = 686.060106; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 686.060106 # Seafloor depth: -736.060106 # behavior reson { duration = RESON_DURATION; 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 61 # Segment length 109.586385 meters # Minimum depth: 738.683870 meters looking forward 100.000000 meters along route # Maximum depth: 740.493792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.683870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.366578; longitude = -118.142661; captureRadius = 10; duration = 219; initialDepth = 690.766189; finalDepth = 688.683870; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 688.68387 # Seafloor depth: -738.683870 # behavior reson { duration = RESON_DURATION; 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 61 # Segment length 109.585935 meters # Minimum depth: 740.766189 meters looking forward 100.000000 meters along route # Maximum depth: 741.777746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.766189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.366984; longitude = -118.141588; captureRadius = 10; duration = 219; initialDepth = 692.008709; finalDepth = 690.766189; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 690.766189 # Seafloor depth: -740.766189 # behavior reson { duration = RESON_DURATION; 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 61 # Segment length 109.585484 meters # Minimum depth: 742.008709 meters looking forward 100.000000 meters along route # Maximum depth: 742.410626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.008709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.367390; longitude = -118.140514; captureRadius = 10; duration = 219; initialDepth = 692.332540; finalDepth = 692.008709; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 692.008709 # Seafloor depth: -742.008709 # behavior reson { duration = RESON_DURATION; 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 61 # Segment length 109.585033 meters # Minimum depth: 742.332540 meters looking forward 100.000000 meters along route # Maximum depth: 742.439291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.332540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.367795; longitude = -118.139440; captureRadius = 10; duration = 219; initialDepth = 691.690876; finalDepth = 692.332540; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.104429 # Actual altitude: 50.104429 # Commanded vehicle depth: 692.33254 # Seafloor depth: -742.436969 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.42; 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 = 200.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 109.584583 meters # Minimum depth: 741.690876 meters looking forward 100.000000 meters along route # Maximum depth: 742.229471 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.690876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.368201; longitude = -118.138366; captureRadius = 10; duration = 219; initialDepth = 690.804955; finalDepth = 691.690876; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.538595 # Actual altitude: 50.538595 # Commanded vehicle depth: 691.690876 # Seafloor depth: -742.229471 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.15; 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 = 202.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 109.584133 meters # Minimum depth: 740.804955 meters looking forward 100.000000 meters along route # Maximum depth: 741.537022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.804955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.368607; longitude = -118.137292; captureRadius = 10; duration = 219; initialDepth = 689.526050; finalDepth = 690.804955; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.732067 # Actual altitude: 50.732067 # Commanded vehicle depth: 690.804955 # Seafloor depth: -741.537022 # behavior reson { duration = RESON_DURATION; 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 61 # Segment length 109.583681 meters # Minimum depth: 739.526050 meters looking forward 100.000000 meters along route # Maximum depth: 740.528617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.526050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.369013; longitude = -118.136218; captureRadius = 10; duration = 219; initialDepth = 688.223513; finalDepth = 689.526050; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.002567 # Actual altitude: 51.002567 # Commanded vehicle depth: 689.52605 # Seafloor depth: -740.528617 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.01; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 204.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 109.583232 meters # Minimum depth: 738.223513 meters looking forward 100.000000 meters along route # Maximum depth: 739.254923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.223513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.369419; longitude = -118.135144; captureRadius = 10; duration = 219; initialDepth = 686.680052; finalDepth = 688.223513; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0314099999999 # Actual altitude: 51.0314099999999 # Commanded vehicle depth: 688.223513 # Seafloor depth: -739.254923 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.13; 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 = 204.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 109.582781 meters # Minimum depth: 736.680052 meters looking forward 100.000000 meters along route # Maximum depth: 737.864344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.680052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.369825; longitude = -118.134070; captureRadius = 10; duration = 219; initialDepth = 684.583274; finalDepth = 686.680052; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1842919999999 # Actual altitude: 51.1842919999999 # Commanded vehicle depth: 686.680052 # Seafloor depth: -737.864344 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.74; 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 = 204.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 126.814377 meters # Minimum depth: 734.583274 meters looking forward 100.000000 meters along route # Maximum depth: 736.341574 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.583274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.370230; longitude = -118.132996; captureRadius = 10; duration = 253; initialDepth = 684.123047; finalDepth = 684.583274; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.7583000000001 # Actual altitude: 51.7583000000001 # Commanded vehicle depth: 684.583274 # Seafloor depth: -736.341574 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 60 # Segment length 150.051029 meters # Minimum depth: 734.123047 meters looking forward 100.000000 meters along route # Maximum depth: 738.412281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.123047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.370700; longitude = -118.131753; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 688.522949; finalDepth = 684.123047; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 51.7583000000001 # Actual altitude: 51.7583000000001 # Commanded vehicle depth: 684.123047 # Seafloor depth: -734.123047 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; 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 to get to end of line 59 # Segment length 112.174456 meters # Minimum depth: 738.522949 meters looking forward 100.000000 meters along route # Maximum depth: 740.283766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.522949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.369466; longitude = -118.131091; captureRadius = 10; duration = 224; # abortOnTimeout = True; initialDepth = 690.360744; finalDepth = 688.522949; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 688.522949 # Seafloor depth: -738.522949 # behavior reson { duration = RESON_DURATION; 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 59 # Segment length 109.581931 meters # Minimum depth: 740.360744 meters looking forward 100.000000 meters along route # Maximum depth: 741.630301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.360744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.369051; longitude = -118.132190; captureRadius = 10; duration = 219; initialDepth = 692.042508; finalDepth = 690.360744; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 690.360744 # Seafloor depth: -740.360744 # behavior reson { duration = RESON_DURATION; 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 59 # Segment length 109.582383 meters # Minimum depth: 742.042508 meters looking forward 100.000000 meters along route # Maximum depth: 743.554435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.042508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.368645; longitude = -118.133264; captureRadius = 10; duration = 219; initialDepth = 693.650247; finalDepth = 692.042508; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 692.042508 # Seafloor depth: -742.042508 # behavior reson { duration = RESON_DURATION; 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 59 # Segment length 109.582832 meters # Minimum depth: 743.650247 meters looking forward 100.000000 meters along route # Maximum depth: 744.803425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.650247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.368239; longitude = -118.134338; captureRadius = 10; duration = 219; initialDepth = 695.167156; finalDepth = 693.650247; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 693.650247 # Seafloor depth: -743.650247 # behavior reson { duration = RESON_DURATION; 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 59 # Segment length 109.583283 meters # Minimum depth: 745.167156 meters looking forward 100.000000 meters along route # Maximum depth: 746.439908 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.167156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.367833; longitude = -118.135412; captureRadius = 10; duration = 219; initialDepth = 696.535520; finalDepth = 695.167156; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 695.167156 # Seafloor depth: -745.167156 # behavior reson { duration = RESON_DURATION; 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 59 # Segment length 109.583733 meters # Minimum depth: 746.535520 meters looking forward 100.000000 meters along route # Maximum depth: 747.384597 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.535520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.367428; longitude = -118.136486; captureRadius = 10; duration = 219; initialDepth = 697.620944; finalDepth = 696.535520; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 696.53552 # Seafloor depth: -746.535520 # behavior reson { duration = RESON_DURATION; 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 59 # Segment length 109.584184 meters # Minimum depth: 747.620944 meters looking forward 100.000000 meters along route # Maximum depth: 748.219492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.620944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.367022; longitude = -118.137560; captureRadius = 10; duration = 219; initialDepth = 698.257326; finalDepth = 697.620944; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 697.620944 # Seafloor depth: -747.620944 # behavior reson { duration = RESON_DURATION; 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 59 # Segment length 109.584634 meters # Minimum depth: 748.257326 meters looking forward 100.000000 meters along route # Maximum depth: 748.321999 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.257326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.366616; longitude = -118.138634; captureRadius = 10; duration = 219; initialDepth = 697.067480; finalDepth = 698.257326; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 698.257326 # Seafloor depth: -748.257326 # behavior reson { duration = RESON_DURATION; 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 59 # Segment length 109.585085 meters # Minimum depth: 747.067480 meters looking forward 100.000000 meters along route # Maximum depth: 748.161126 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.067480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.366210; longitude = -118.139708; captureRadius = 10; duration = 219; initialDepth = 694.885228; finalDepth = 697.067480; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0936459999999 # Actual altitude: 51.0936459999999 # Commanded vehicle depth: 697.06748 # Seafloor depth: -748.161126 # behavior reson { duration = RESON_DURATION; 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 59 # Segment length 109.585535 meters # Minimum depth: 744.885228 meters looking forward 100.000000 meters along route # Maximum depth: 746.875750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.885228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.365804; longitude = -118.140782; captureRadius = 10; duration = 219; initialDepth = 690.145566; finalDepth = 694.885228; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9905220000001 # Actual altitude: 51.9905220000001 # Commanded vehicle depth: 694.885228 # Seafloor depth: -746.875750 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.96; 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 = 207.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 109.585986 meters # Minimum depth: 740.145566 meters looking forward 100.000000 meters along route # Maximum depth: 744.005302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.145566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.365399; longitude = -118.141856; captureRadius = 10; duration = 219; initialDepth = 685.647639; finalDepth = 690.145566; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.859736 # Actual altitude: 53.859736 # Commanded vehicle depth: 690.145566 # Seafloor depth: -744.005302 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 215.44; 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 = 215.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 109.586436 meters # Minimum depth: 735.647639 meters looking forward 100.000000 meters along route # Maximum depth: 739.539372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.647639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364993; longitude = -118.142930; captureRadius = 10; duration = 219; initialDepth = 677.666685; finalDepth = 685.647639; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8917329999999 # Actual altitude: 53.8917329999999 # Commanded vehicle depth: 685.647639 # Seafloor depth: -739.539372 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 215.57; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.56; MB_Bottom_Detect_Filter_Max_Range = 215.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 109.586887 meters # Minimum depth: 727.666685 meters looking forward 100.000000 meters along route # Maximum depth: 734.316213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 677.666685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364587; longitude = -118.144004; captureRadius = 10; duration = 219; initialDepth = 669.866829; finalDepth = 677.666685; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6495279999999 # Actual altitude: 56.6495279999999 # Commanded vehicle depth: 677.666685 # Seafloor depth: -734.316213 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 226.60; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.66; MB_Bottom_Detect_Filter_Max_Range = 226.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 109.587338 meters # Minimum depth: 719.866829 meters looking forward 100.000000 meters along route # Maximum depth: 728.343914 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 669.866829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364181; longitude = -118.145078; captureRadius = 10; duration = 219; initialDepth = 678.640209; finalDepth = 669.866829; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6495279999999 # Actual altitude: 56.6495279999999 # Commanded vehicle depth: 669.866829 # Seafloor depth: -726.221455 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 226.60; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.66; MB_Bottom_Detect_Filter_Max_Range = 226.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 109.587788 meters # Minimum depth: 728.640209 meters looking forward 100.000000 meters along route # Maximum depth: 730.117004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.640209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363776; longitude = -118.146152; captureRadius = 10; duration = 219; initialDepth = 673.182161; finalDepth = 678.640209; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3546259999999 # Actual altitude: 56.3546259999999 # Commanded vehicle depth: 678.640209 # Seafloor depth: -728.640209 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 225.42; 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 = 225.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 109.588239 meters # Minimum depth: 723.182161 meters looking forward 100.000000 meters along route # Maximum depth: 728.637091 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.182161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363370; longitude = -118.147226; captureRadius = 10; duration = 219; initialDepth = 672.506501; finalDepth = 673.182161; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4549300000001 # Actual altitude: 55.4549300000001 # Commanded vehicle depth: 673.182161 # Seafloor depth: -728.637091 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 221.82; 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 = 221.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 109.588690 meters # Minimum depth: 722.506501 meters looking forward 100.000000 meters along route # Maximum depth: 723.691395 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.506501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362964; longitude = -118.148300; captureRadius = 10; duration = 219; initialDepth = 671.992649; finalDepth = 672.506501; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4549300000001 # Actual altitude: 55.4549300000001 # Commanded vehicle depth: 672.506501 # Seafloor depth: -722.506501 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 221.82; 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 = 221.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 109.589140 meters # Minimum depth: 721.992649 meters looking forward 100.000000 meters along route # Maximum depth: 722.676232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.992649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362558; longitude = -118.149374; captureRadius = 10; duration = 219; initialDepth = 672.952318; finalDepth = 671.992649; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.660813 # Actual altitude: 50.660813 # Commanded vehicle depth: 671.992649 # Seafloor depth: -722.653462 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.64; 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 = 202.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 109.589591 meters # Minimum depth: 722.952318 meters looking forward 100.000000 meters along route # Maximum depth: 723.985140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.952318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362152; longitude = -118.150448; captureRadius = 10; duration = 219; initialDepth = 673.521376; finalDepth = 672.952318; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.660813 # Actual altitude: 50.660813 # Commanded vehicle depth: 672.952318 # Seafloor depth: -722.952318 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.64; 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 = 202.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 109.590042 meters # Minimum depth: 723.521376 meters looking forward 100.000000 meters along route # Maximum depth: 724.163882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.521376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361747; longitude = -118.151522; captureRadius = 10; duration = 219; initialDepth = 673.927511; finalDepth = 673.521376; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.468443 # Actual altitude: 50.468443 # Commanded vehicle depth: 673.521376 # Seafloor depth: -723.989819 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.87; 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 = 201.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 109.590493 meters # Minimum depth: 723.927511 meters looking forward 100.000000 meters along route # Maximum depth: 724.975371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.927511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361341; longitude = -118.152596; captureRadius = 10; duration = 219; initialDepth = 675.110147; finalDepth = 673.927511; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.773504 # Actual altitude: 50.773504 # Commanded vehicle depth: 673.927511 # Seafloor depth: -724.701015 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.09; 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 = 203.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 124.536487 meters # Minimum depth: 725.110147 meters looking forward 100.000000 meters along route # Maximum depth: 725.975929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.110147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360935; longitude = -118.153670; captureRadius = 10; duration = 249; initialDepth = 675.057938; finalDepth = 675.110147; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.773504 # Actual altitude: 50.773504 # Commanded vehicle depth: 675.110147 # Seafloor depth: -725.534303 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 203.09; 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 = 203.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.09; 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 58 # Segment length 150.054633 meters # Minimum depth: 725.057938 meters looking forward 100.000000 meters along route # Maximum depth: 726.467983 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.057938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360474; longitude = -118.154890; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 675.397869; finalDepth = 675.057938; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50.424156 # Actual altitude: 50.424156 # Commanded vehicle depth: 675.057938 # Seafloor depth: -725.057938 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 201.70; 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 = 201.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 57 # Segment length 116.495033 meters # Minimum depth: 725.397869 meters looking forward 100.000000 meters along route # Maximum depth: 727.049347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.397869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359240; longitude = -118.154228; captureRadius = 10; duration = 232; # abortOnTimeout = True; initialDepth = 674.747727; finalDepth = 675.397869; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.651478 # Actual altitude: 51.651478 # Commanded vehicle depth: 675.397869 # Seafloor depth: -727.049347 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.61; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 104.882796 meters # Minimum depth: 724.747727 meters looking forward 100.000000 meters along route # Maximum depth: 726.834751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.747727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359671; longitude = -118.153086; captureRadius = 10; duration = 209; initialDepth = 672.935755; finalDepth = 674.747727; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.651478 # Actual altitude: 51.651478 # Commanded vehicle depth: 674.747727 # Seafloor depth: -725.996425 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.61; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 112.630341 meters # Minimum depth: 722.935755 meters looking forward 100.000000 meters along route # Maximum depth: 725.174687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.935755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360060; longitude = -118.152059; captureRadius = 10; duration = 225; initialDepth = 672.953525; finalDepth = 672.935755; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.238932 # Actual altitude: 52.238932 # Commanded vehicle depth: 672.935755 # Seafloor depth: -725.174687 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.96; 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 = 208.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 106.557588 meters # Minimum depth: 722.953525 meters looking forward 100.000000 meters along route # Maximum depth: 723.584055 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.953525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360477; longitude = -118.150955; captureRadius = 10; duration = 213; initialDepth = 669.816241; finalDepth = 672.953525; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.238932 # Actual altitude: 52.238932 # Commanded vehicle depth: 672.953525 # Seafloor depth: -722.953525 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.96; 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 = 208.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 110.953773 meters # Minimum depth: 719.816241 meters looking forward 100.000000 meters along route # Maximum depth: 723.858272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 669.816241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360871; longitude = -118.149911; captureRadius = 10; duration = 221; initialDepth = 667.263821; finalDepth = 669.816241; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0420310000001 # Actual altitude: 54.0420310000001 # Commanded vehicle depth: 669.816241 # Seafloor depth: -723.858272 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 216.17; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 108.232353 meters # Minimum depth: 717.263821 meters looking forward 100.000000 meters along route # Maximum depth: 719.796277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 667.263821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361282; longitude = -118.148823; captureRadius = 10; duration = 216; initialDepth = 667.339137; finalDepth = 667.263821; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0420310000001 # Actual altitude: 54.0420310000001 # Commanded vehicle depth: 667.263821 # Seafloor depth: -719.784762 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 216.17; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 109.592387 meters # Minimum depth: 717.339137 meters looking forward 100.000000 meters along route # Maximum depth: 724.569795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 667.339137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361683; longitude = -118.147763; captureRadius = 10; duration = 219; initialDepth = 674.610303; finalDepth = 667.339137; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.520941 # Actual altitude: 52.520941 # Commanded vehicle depth: 667.339137 # Seafloor depth: -717.339137 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 210.08; 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 = 210.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 109.591936 meters # Minimum depth: 724.610303 meters looking forward 100.000000 meters along route # Maximum depth: 730.061596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.610303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362089; longitude = -118.146689; captureRadius = 10; duration = 219; initialDepth = 680.977493; finalDepth = 674.610303; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 674.610303 # Seafloor depth: -724.610303 # behavior reson { duration = RESON_DURATION; 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 57 # Segment length 109.591486 meters # Minimum depth: 730.977493 meters looking forward 100.000000 meters along route # Maximum depth: 732.117635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.977493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362495; longitude = -118.145615; captureRadius = 10; duration = 219; initialDepth = 678.934326; finalDepth = 680.977493; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.083205 # Actual altitude: 50.083205 # Commanded vehicle depth: 680.977493 # Seafloor depth: -731.060698 # behavior reson { duration = RESON_DURATION; 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 57 # Segment length 109.591035 meters # Minimum depth: 728.934326 meters looking forward 100.000000 meters along route # Maximum depth: 731.357626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.934326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362901; longitude = -118.144541; captureRadius = 10; duration = 219; initialDepth = 683.506867; finalDepth = 678.934326; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4232999999999 # Actual altitude: 52.4232999999999 # Commanded vehicle depth: 678.934326 # Seafloor depth: -731.357626 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.69; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.97; MB_Bottom_Detect_Filter_Max_Range = 209.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 109.590584 meters # Minimum depth: 733.506867 meters looking forward 100.000000 meters along route # Maximum depth: 743.525157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.506867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363306; longitude = -118.143467; captureRadius = 10; duration = 219; initialDepth = 693.827992; finalDepth = 683.506867; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4232999999999 # Actual altitude: 52.4232999999999 # Commanded vehicle depth: 683.506867 # Seafloor depth: -733.506867 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.69; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.97; MB_Bottom_Detect_Filter_Max_Range = 209.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 109.590134 meters # Minimum depth: 743.827992 meters looking forward 100.000000 meters along route # Maximum depth: 749.904630 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.827992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363712; longitude = -118.142393; captureRadius = 10; duration = 219; initialDepth = 701.442500; finalDepth = 693.827992; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 693.827992 # Seafloor depth: -743.827992 # behavior reson { duration = RESON_DURATION; 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 57 # Segment length 109.589683 meters # Minimum depth: 751.442500 meters looking forward 100.000000 meters along route # Maximum depth: 754.948482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.442500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364118; longitude = -118.141319; captureRadius = 10; duration = 219; initialDepth = 705.061026; finalDepth = 701.442500; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 701.4425 # Seafloor depth: -751.442500 # behavior reson { duration = RESON_DURATION; 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 57 # Segment length 109.589232 meters # Minimum depth: 755.061026 meters looking forward 100.000000 meters along route # Maximum depth: 755.784919 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.061026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364524; longitude = -118.140245; captureRadius = 10; duration = 219; initialDepth = 705.121725; finalDepth = 705.061026; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 705.061026 # Seafloor depth: -755.061026 # behavior reson { duration = RESON_DURATION; 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 57 # Segment length 109.588782 meters # Minimum depth: 755.121725 meters looking forward 100.000000 meters along route # Maximum depth: 755.785886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.121725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364930; longitude = -118.139171; captureRadius = 10; duration = 219; initialDepth = 704.095656; finalDepth = 705.121725; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.664161 # Actual altitude: 50.664161 # Commanded vehicle depth: 705.121725 # Seafloor depth: -755.785886 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.66; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 109.588332 meters # Minimum depth: 754.095656 meters looking forward 100.000000 meters along route # Maximum depth: 755.063043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.095656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.365336; longitude = -118.138097; captureRadius = 10; duration = 219; initialDepth = 702.228891; finalDepth = 704.095656; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.967387 # Actual altitude: 50.967387 # Commanded vehicle depth: 704.095656 # Seafloor depth: -755.063043 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.87; 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 = 203.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 109.587881 meters # Minimum depth: 752.228891 meters looking forward 100.000000 meters along route # Maximum depth: 753.730239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.228891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.365742; longitude = -118.137023; captureRadius = 10; duration = 219; initialDepth = 700.785570; finalDepth = 702.228891; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.501348 # Actual altitude: 51.501348 # Commanded vehicle depth: 702.228891 # Seafloor depth: -753.730239 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.01; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 206.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 109.587430 meters # Minimum depth: 750.785570 meters looking forward 100.000000 meters along route # Maximum depth: 752.096520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.785570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.366147; longitude = -118.135949; captureRadius = 10; duration = 219; initialDepth = 698.714056; finalDepth = 700.785570; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.501348 # Actual altitude: 51.501348 # Commanded vehicle depth: 700.78557 # Seafloor depth: -752.096520 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.01; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 206.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 109.586980 meters # Minimum depth: 748.714056 meters looking forward 100.000000 meters along route # Maximum depth: 750.342445 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.714056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.366553; longitude = -118.134875; captureRadius = 10; duration = 219; initialDepth = 697.143033; finalDepth = 698.714056; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.628389 # Actual altitude: 51.628389 # Commanded vehicle depth: 698.714056 # Seafloor depth: -750.342445 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.51; 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 = 206.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 109.586530 meters # Minimum depth: 747.143033 meters looking forward 100.000000 meters along route # Maximum depth: 748.541686 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.143033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.366959; longitude = -118.133801; captureRadius = 10; duration = 219; initialDepth = 695.023787; finalDepth = 697.143033; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.628389 # Actual altitude: 51.628389 # Commanded vehicle depth: 697.143033 # Seafloor depth: -748.541686 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.51; 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 = 206.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 109.586079 meters # Minimum depth: 745.023787 meters looking forward 100.000000 meters along route # Maximum depth: 746.671673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.023787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.367365; longitude = -118.132727; captureRadius = 10; duration = 219; initialDepth = 692.945317; finalDepth = 695.023787; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6478860000001 # Actual altitude: 51.6478860000001 # Commanded vehicle depth: 695.023787 # Seafloor depth: -746.671673 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.59; 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 = 206.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 124.833512 meters # Minimum depth: 742.945317 meters looking forward 100.000000 meters along route # Maximum depth: 744.813033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.945317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.367771; longitude = -118.131653; captureRadius = 10; duration = 249; initialDepth = 693.060059; finalDepth = 692.945317; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.867716 # Actual altitude: 51.867716 # Commanded vehicle depth: 692.945317 # Seafloor depth: -744.813033 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 207.47; 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 = 207.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.47; 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 56 # Segment length 150.051646 meters # Minimum depth: 743.060059 meters looking forward 100.000000 meters along route # Maximum depth: 746.732432 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.060059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.368233; longitude = -118.130430; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 696.504395; finalDepth = 693.060059; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 51.867716 # Actual altitude: 51.867716 # Commanded vehicle depth: 693.060059 # Seafloor depth: -743.060059 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 207.47; 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 = 207.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 55 # Segment length 110.193164 meters # Minimum depth: 746.504395 meters looking forward 100.000000 meters along route # Maximum depth: 748.473450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.504395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.366999; longitude = -118.129768; captureRadius = 10; duration = 220; # abortOnTimeout = True; initialDepth = 698.775789; finalDepth = 696.504395; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 696.504395 # Seafloor depth: -746.504395 # behavior reson { duration = RESON_DURATION; 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 55 # Segment length 109.585230 meters # Minimum depth: 748.775789 meters looking forward 100.000000 meters along route # Maximum depth: 750.311151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.775789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.366591; longitude = -118.130848; captureRadius = 10; duration = 219; initialDepth = 700.824073; finalDepth = 698.775789; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 698.775789 # Seafloor depth: -748.775789 # behavior reson { duration = RESON_DURATION; 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 55 # Segment length 109.585680 meters # Minimum depth: 750.824073 meters looking forward 100.000000 meters along route # Maximum depth: 752.562257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.824073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.366185; longitude = -118.131922; captureRadius = 10; duration = 219; initialDepth = 702.910826; finalDepth = 700.824073; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 700.824073 # Seafloor depth: -750.824073 # behavior reson { duration = RESON_DURATION; 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 55 # Segment length 109.586130 meters # Minimum depth: 752.910826 meters looking forward 100.000000 meters along route # Maximum depth: 754.513623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.910826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.365779; longitude = -118.132996; captureRadius = 10; duration = 219; initialDepth = 705.054437; finalDepth = 702.910826; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 702.910826 # Seafloor depth: -752.910826 # behavior reson { duration = RESON_DURATION; 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 55 # Segment length 109.586581 meters # Minimum depth: 755.054437 meters looking forward 100.000000 meters along route # Maximum depth: 756.854786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.054437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.365374; longitude = -118.134070; captureRadius = 10; duration = 219; initialDepth = 707.260225; finalDepth = 705.054437; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 705.054437 # Seafloor depth: -755.054437 # behavior reson { duration = RESON_DURATION; 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 55 # Segment length 109.587031 meters # Minimum depth: 757.260225 meters looking forward 100.000000 meters along route # Maximum depth: 758.969953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.260225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364968; longitude = -118.135144; captureRadius = 10; duration = 219; initialDepth = 709.554436; finalDepth = 707.260225; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 707.260225 # Seafloor depth: -757.260225 # behavior reson { duration = RESON_DURATION; 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 55 # Segment length 109.587482 meters # Minimum depth: 759.554436 meters looking forward 100.000000 meters along route # Maximum depth: 761.485006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.554436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364562; longitude = -118.136218; captureRadius = 10; duration = 219; initialDepth = 711.971458; finalDepth = 709.554436; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 709.554436 # Seafloor depth: -759.554436 # behavior reson { duration = RESON_DURATION; 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 55 # Segment length 109.587932 meters # Minimum depth: 761.971458 meters looking forward 100.000000 meters along route # Maximum depth: 763.847464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.971458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364156; longitude = -118.137292; captureRadius = 10; duration = 219; initialDepth = 714.470541; finalDepth = 711.971458; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 711.971458 # Seafloor depth: -761.971458 # behavior reson { duration = RESON_DURATION; 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 55 # Segment length 109.588382 meters # Minimum depth: 764.470541 meters looking forward 100.000000 meters along route # Maximum depth: 766.389980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.470541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363750; longitude = -118.138366; captureRadius = 10; duration = 219; initialDepth = 716.875282; finalDepth = 714.470541; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 714.470541 # Seafloor depth: -764.470541 # behavior reson { duration = RESON_DURATION; 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 55 # Segment length 109.588833 meters # Minimum depth: 766.875282 meters looking forward 100.000000 meters along route # Maximum depth: 767.533987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.875282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363345; longitude = -118.139440; captureRadius = 10; duration = 219; initialDepth = 710.785821; finalDepth = 716.875282; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 716.875282 # Seafloor depth: -766.875282 # behavior reson { duration = RESON_DURATION; 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 55 # Segment length 109.589284 meters # Minimum depth: 760.785821 meters looking forward 100.000000 meters along route # Maximum depth: 766.957897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.785821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362939; longitude = -118.140514; captureRadius = 10; duration = 219; initialDepth = 691.501205; finalDepth = 710.785821; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1720759999999 # Actual altitude: 56.1720759999999 # Commanded vehicle depth: 710.785821 # Seafloor depth: -766.957897 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 224.69; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.47; MB_Bottom_Detect_Filter_Max_Range = 224.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 109.589734 meters # Minimum depth: 741.501205 meters looking forward 100.000000 meters along route # Maximum depth: 757.451929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.501205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362533; longitude = -118.141588; captureRadius = 10; duration = 219; initialDepth = 682.228821; finalDepth = 691.501205; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.9507239999999 # Actual altitude: 65.9507239999999 # Commanded vehicle depth: 691.501205 # Seafloor depth: -757.451929 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 263.80; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.38; MB_Bottom_Detect_Filter_Max_Range = 263.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 109.590185 meters # Minimum depth: 732.228821 meters looking forward 100.000000 meters along route # Maximum depth: 737.639627 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.228821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362127; longitude = -118.142661; captureRadius = 10; duration = 219; initialDepth = 680.182949; finalDepth = 682.228821; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.9507239999999 # Actual altitude: 65.9507239999999 # Commanded vehicle depth: 682.228821 # Seafloor depth: -732.228821 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 263.80; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.38; MB_Bottom_Detect_Filter_Max_Range = 263.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 118.589987 meters # Minimum depth: 730.182949 meters looking forward 100.000000 meters along route # Maximum depth: 736.256774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.182949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361721; longitude = -118.143735; captureRadius = 10; duration = 237; initialDepth = 672.743796; finalDepth = 680.182949; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.0738249999999 # Actual altitude: 56.0738249999999 # Commanded vehicle depth: 680.182949 # Seafloor depth: -736.256774 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 224.30; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.43; MB_Bottom_Detect_Filter_Max_Range = 224.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 100.591733 meters # Minimum depth: 722.743796 meters looking forward 100.000000 meters along route # Maximum depth: 729.615236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.743796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361282; longitude = -118.144898; captureRadius = 10; duration = 201; initialDepth = 669.074709; finalDepth = 672.743796; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.87144 # Actual altitude: 56.87144 # Commanded vehicle depth: 672.743796 # Seafloor depth: -729.615236 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 227.49; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.75; MB_Bottom_Detect_Filter_Max_Range = 227.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 116.939530 meters # Minimum depth: 719.074709 meters looking forward 100.000000 meters along route # Maximum depth: 721.134469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 669.074709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360910; longitude = -118.145883; captureRadius = 10; duration = 233; initialDepth = 671.173928; finalDepth = 669.074709; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.87144 # Actual altitude: 56.87144 # Commanded vehicle depth: 669.074709 # Seafloor depth: -720.043156 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 227.49; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.75; MB_Bottom_Detect_Filter_Max_Range = 227.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 102.243994 meters # Minimum depth: 721.173928 meters looking forward 100.000000 meters along route # Maximum depth: 721.805509 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.173928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360477; longitude = -118.147029; captureRadius = 10; duration = 204; initialDepth = 672.067875; finalDepth = 671.173928; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.968447 # Actual altitude: 50.968447 # Commanded vehicle depth: 671.173928 # Seafloor depth: -721.173928 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.87; 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 = 203.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 115.289044 meters # Minimum depth: 722.067875 meters looking forward 100.000000 meters along route # Maximum depth: 722.764980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.067875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360098; longitude = -118.148031; captureRadius = 10; duration = 230; initialDepth = 672.265716; finalDepth = 672.067875; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.406602 # Actual altitude: 50.406602 # Commanded vehicle depth: 672.067875 # Seafloor depth: -722.474477 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.63; 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 = 201.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 103.896282 meters # Minimum depth: 722.265716 meters looking forward 100.000000 meters along route # Maximum depth: 723.830908 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.265716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359671; longitude = -118.149161; captureRadius = 10; duration = 207; initialDepth = 672.921160; finalDepth = 672.265716; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.406602 # Actual altitude: 50.406602 # Commanded vehicle depth: 672.265716 # Seafloor depth: -722.390115 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.63; 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 = 201.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 113.638533 meters # Minimum depth: 722.921160 meters looking forward 100.000000 meters along route # Maximum depth: 724.713069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.921160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359287; longitude = -118.150179; captureRadius = 10; duration = 227; initialDepth = 674.364415; finalDepth = 672.921160; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7639770000001 # Actual altitude: 50.7639770000001 # Commanded vehicle depth: 672.92116 # Seafloor depth: -723.685137 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.06; 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 = 203.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 105.548596 meters # Minimum depth: 724.364415 meters looking forward 100.000000 meters along route # Maximum depth: 725.136100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.364415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358866; longitude = -118.151293; captureRadius = 10; duration = 211; initialDepth = 675.605526; finalDepth = 674.364415; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7639770000001 # Actual altitude: 50.7639770000001 # Commanded vehicle depth: 674.364415 # Seafloor depth: -724.646245 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.06; 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 = 203.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 126.423035 meters # Minimum depth: 725.605526 meters looking forward 100.000000 meters along route # Maximum depth: 728.550395 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.605526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358475; longitude = -118.152327; captureRadius = 10; duration = 252; initialDepth = 678.126720; finalDepth = 675.605526; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.28183 # Actual altitude: 50.28183 # Commanded vehicle depth: 675.605526 # Seafloor depth: -725.808410 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 201.13; 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 = 201.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.13; 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 54 # Segment length 149.954147 meters # Minimum depth: 728.126720 meters looking forward 100.000000 meters along route # Maximum depth: 729.875547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.126720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358007; longitude = -118.153566; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 678.117277; finalDepth = 678.126720; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50.48029 # Actual altitude: 50.48029 # Commanded vehicle depth: 678.12672 # Seafloor depth: -728.607010 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 201.92; 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 = 201.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 53 # Segment length 113.666487 meters # Minimum depth: 728.117277 meters looking forward 100.000000 meters along route # Maximum depth: 730.097803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.117277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356774; longitude = -118.152904; captureRadius = 10; duration = 227; # abortOnTimeout = True; initialDepth = 676.253518; finalDepth = 678.117277; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3153400000001 # Actual altitude: 51.3153400000001 # Commanded vehicle depth: 678.117277 # Seafloor depth: -729.432617 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.26; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 109.595106 meters # Minimum depth: 726.253518 meters looking forward 100.000000 meters along route # Maximum depth: 727.518525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.253518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357195; longitude = -118.151790; captureRadius = 10; duration = 219; initialDepth = 674.906544; finalDepth = 676.253518; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3153400000001 # Actual altitude: 51.3153400000001 # Commanded vehicle depth: 676.253518 # Seafloor depth: -727.052769 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.26; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 109.594656 meters # Minimum depth: 724.906544 meters looking forward 100.000000 meters along route # Maximum depth: 725.585301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.906544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357601; longitude = -118.150716; captureRadius = 10; duration = 219; initialDepth = 672.751433; finalDepth = 674.906544; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.799251 # Actual altitude: 50.799251 # Commanded vehicle depth: 674.906544 # Seafloor depth: -725.453124 # behavior reson { duration = RESON_DURATION; 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 53 # Segment length 109.594204 meters # Minimum depth: 722.751433 meters looking forward 100.000000 meters along route # Maximum depth: 725.238921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.751433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358006; longitude = -118.149642; captureRadius = 10; duration = 219; initialDepth = 671.190405; finalDepth = 672.751433; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.202186 # Actual altitude: 52.202186 # Commanded vehicle depth: 672.751433 # Seafloor depth: -724.953619 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.81; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 109.593755 meters # Minimum depth: 721.190405 meters looking forward 100.000000 meters along route # Maximum depth: 721.939383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.190405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358412; longitude = -118.148568; captureRadius = 10; duration = 219; initialDepth = 672.138401; finalDepth = 671.190405; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.202186 # Actual altitude: 52.202186 # Commanded vehicle depth: 671.190405 # Seafloor depth: -721.939383 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.81; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 109.593303 meters # Minimum depth: 722.138401 meters looking forward 100.000000 meters along route # Maximum depth: 724.850229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.138401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358818; longitude = -118.147494; captureRadius = 10; duration = 219; initialDepth = 672.507373; finalDepth = 672.138401; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.748978 # Actual altitude: 50.748978 # Commanded vehicle depth: 672.138401 # Seafloor depth: -722.138401 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 203.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 109.592853 meters # Minimum depth: 722.507373 meters looking forward 100.000000 meters along route # Maximum depth: 724.699897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.507373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359224; longitude = -118.146420; captureRadius = 10; duration = 219; initialDepth = 671.421763; finalDepth = 672.507373; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.470454 # Actual altitude: 51.470454 # Commanded vehicle depth: 672.507373 # Seafloor depth: -723.977827 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.88; 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 = 205.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 109.592402 meters # Minimum depth: 721.421763 meters looking forward 100.000000 meters along route # Maximum depth: 722.547857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.421763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359630; longitude = -118.145346; captureRadius = 10; duration = 219; initialDepth = 676.236632; finalDepth = 671.421763; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.470454 # Actual altitude: 51.470454 # Commanded vehicle depth: 671.421763 # Seafloor depth: -721.902347 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.88; 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 = 205.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 109.591952 meters # Minimum depth: 726.236632 meters looking forward 100.000000 meters along route # Maximum depth: 730.779304 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.236632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360035; longitude = -118.144272; captureRadius = 10; duration = 219; initialDepth = 683.360284; finalDepth = 676.236632; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4805839999999 # Actual altitude: 50.4805839999999 # Commanded vehicle depth: 676.236632 # Seafloor depth: -726.236632 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.92; 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 = 201.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 109.591501 meters # Minimum depth: 733.360284 meters looking forward 100.000000 meters along route # Maximum depth: 748.926762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.360284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360441; longitude = -118.143198; captureRadius = 10; duration = 219; initialDepth = 707.192091; finalDepth = 683.360284; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 683.360284 # Seafloor depth: -733.360284 # behavior reson { duration = RESON_DURATION; 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 53 # Segment length 117.568270 meters # Minimum depth: 757.192091 meters looking forward 100.000000 meters along route # Maximum depth: 790.104865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.192091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360847; longitude = -118.142125; captureRadius = 10; duration = 235; initialDepth = 741.542277; finalDepth = 707.192091; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 707.192091 # Seafloor depth: -757.192091 # behavior reson { duration = RESON_DURATION; 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 53 # Segment length 101.613380 meters # Minimum depth: 791.542277 meters looking forward 100.000000 meters along route # Maximum depth: 799.771605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.542277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361282; longitude = -118.140972; captureRadius = 10; duration = 203; initialDepth = 729.061551; finalDepth = 741.542277; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 741.542277 # Seafloor depth: -791.542277 # behavior reson { duration = RESON_DURATION; 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 53 # Segment length 115.915900 meters # Minimum depth: 779.061551 meters looking forward 100.000000 meters along route # Maximum depth: 796.450790 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.061551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361659; longitude = -118.139977; captureRadius = 10; duration = 231; initialDepth = 724.248636; finalDepth = 729.061551; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.389239 # Actual altitude: 67.389239 # Commanded vehicle depth: 729.061551 # Seafloor depth: -796.450790 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 269.56; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.96; MB_Bottom_Detect_Filter_Max_Range = 269.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 103.263949 meters # Minimum depth: 774.248636 meters looking forward 100.000000 meters along route # Maximum depth: 778.628789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.248636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362088; longitude = -118.138841; captureRadius = 10; duration = 206; initialDepth = 718.870452; finalDepth = 724.248636; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.389239 # Actual altitude: 67.389239 # Commanded vehicle depth: 724.248636 # Seafloor depth: -778.628789 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 269.56; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.96; MB_Bottom_Detect_Filter_Max_Range = 269.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 114.263555 meters # Minimum depth: 768.870452 meters looking forward 100.000000 meters along route # Maximum depth: 772.985079 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.870452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362470; longitude = -118.137829; captureRadius = 10; duration = 228; initialDepth = 716.339964; finalDepth = 718.870452; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.380153 # Actual altitude: 54.380153 # Commanded vehicle depth: 718.870452 # Seafloor depth: -772.985079 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 217.52; 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 = 217.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 104.914492 meters # Minimum depth: 766.339964 meters looking forward 100.000000 meters along route # Maximum depth: 768.717076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.339964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362893; longitude = -118.136709; captureRadius = 10; duration = 209; initialDepth = 712.688830; finalDepth = 716.339964; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.114627 # Actual altitude: 54.114627 # Commanded vehicle depth: 716.339964 # Seafloor depth: -768.717076 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 216.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.65; MB_Bottom_Detect_Filter_Max_Range = 216.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 112.611238 meters # Minimum depth: 762.688830 meters looking forward 100.000000 meters along route # Maximum depth: 765.558819 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.688830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363282; longitude = -118.135681; captureRadius = 10; duration = 225; initialDepth = 710.723717; finalDepth = 712.688830; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8699889999999 # Actual altitude: 52.8699889999999 # Commanded vehicle depth: 712.68883 # Seafloor depth: -765.558819 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 211.48; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.15; MB_Bottom_Detect_Filter_Max_Range = 211.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 106.565007 meters # Minimum depth: 760.723717 meters looking forward 100.000000 meters along route # Maximum depth: 762.615398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.723717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363699; longitude = -118.134577; captureRadius = 10; duration = 213; initialDepth = 707.666582; finalDepth = 710.723717; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8699889999999 # Actual altitude: 52.8699889999999 # Commanded vehicle depth: 710.723717 # Seafloor depth: -762.615398 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 211.48; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.15; MB_Bottom_Detect_Filter_Max_Range = 211.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 110.958949 meters # Minimum depth: 757.666582 meters looking forward 100.000000 meters along route # Maximum depth: 760.091649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.666582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364093; longitude = -118.133533; captureRadius = 10; duration = 221; initialDepth = 705.932412; finalDepth = 707.666582; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.425067 # Actual altitude: 52.425067 # Commanded vehicle depth: 707.666582 # Seafloor depth: -760.091649 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.70; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.97; MB_Bottom_Detect_Filter_Max_Range = 209.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 108.215495 meters # Minimum depth: 755.932412 meters looking forward 100.000000 meters along route # Maximum depth: 757.637294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.932412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364504; longitude = -118.132445; captureRadius = 10; duration = 216; initialDepth = 703.165818; finalDepth = 705.932412; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.425067 # Actual altitude: 52.425067 # Commanded vehicle depth: 705.932412 # Seafloor depth: -757.637294 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.70; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.97; MB_Bottom_Detect_Filter_Max_Range = 209.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 109.586547 meters # Minimum depth: 753.165818 meters looking forward 100.000000 meters along route # Maximum depth: 755.367923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.165818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364905; longitude = -118.131385; captureRadius = 10; duration = 219; initialDepth = 701.025536; finalDepth = 703.165818; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2021050000001 # Actual altitude: 52.2021050000001 # Commanded vehicle depth: 703.165818 # Seafloor depth: -755.367923 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.81; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 122.951392 meters # Minimum depth: 751.025536 meters looking forward 100.000000 meters along route # Maximum depth: 753.160256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.025536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.365311; longitude = -118.130311; captureRadius = 10; duration = 245; initialDepth = 700.958008; finalDepth = 701.025536; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.2021050000001 # Actual altitude: 52.2021050000001 # Commanded vehicle depth: 701.025536 # Seafloor depth: -753.160256 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 208.81; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 52 # Segment length 150.052264 meters # Minimum depth: 750.958008 meters looking forward 100.000000 meters along route # Maximum depth: 753.930714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.958008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.365766; longitude = -118.129106; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 704.392578; finalDepth = 700.958008; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 52.13472 # Actual altitude: 52.13472 # Commanded vehicle depth: 700.958008 # Seafloor depth: -750.958008 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 208.54; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 51 # Segment length 135.709922 meters # Minimum depth: 754.392578 meters looking forward 100.000000 meters along route # Maximum depth: 756.879635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.392578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364532; longitude = -118.128444; captureRadius = 10; duration = 271; # abortOnTimeout = True; initialDepth = 707.453276; finalDepth = 704.392578; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 704.392578 # Seafloor depth: -754.392578 # behavior reson { duration = RESON_DURATION; 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 51 # Segment length 109.587865 meters # Minimum depth: 757.453276 meters looking forward 100.000000 meters along route # Maximum depth: 759.341132 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.453276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364029; longitude = -118.129774; captureRadius = 10; duration = 219; initialDepth = 709.788131; finalDepth = 707.453276; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 707.453276 # Seafloor depth: -757.453276 # behavior reson { duration = RESON_DURATION; 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 51 # Segment length 109.588314 meters # Minimum depth: 759.788131 meters looking forward 100.000000 meters along route # Maximum depth: 761.634636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.788131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363624; longitude = -118.130848; captureRadius = 10; duration = 219; initialDepth = 712.262006; finalDepth = 709.788131; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 709.788131 # Seafloor depth: -759.788131 # behavior reson { duration = RESON_DURATION; 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 51 # Segment length 109.588765 meters # Minimum depth: 762.262006 meters looking forward 100.000000 meters along route # Maximum depth: 764.357395 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.262006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363218; longitude = -118.131922; captureRadius = 10; duration = 219; initialDepth = 714.891206; finalDepth = 712.262006; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 712.262006 # Seafloor depth: -762.262006 # behavior reson { duration = RESON_DURATION; 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 51 # Segment length 109.589215 meters # Minimum depth: 764.891206 meters looking forward 100.000000 meters along route # Maximum depth: 767.009370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.891206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362812; longitude = -118.132996; captureRadius = 10; duration = 219; initialDepth = 717.751623; finalDepth = 714.891206; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 714.891206 # Seafloor depth: -764.891206 # behavior reson { duration = RESON_DURATION; 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 51 # Segment length 109.589666 meters # Minimum depth: 767.751623 meters looking forward 100.000000 meters along route # Maximum depth: 770.229230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.751623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362406; longitude = -118.134070; captureRadius = 10; duration = 219; initialDepth = 720.952895; finalDepth = 717.751623; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 717.751623 # Seafloor depth: -767.751623 # behavior reson { duration = RESON_DURATION; 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 51 # Segment length 109.590116 meters # Minimum depth: 770.952895 meters looking forward 100.000000 meters along route # Maximum depth: 773.658097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.952895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362001; longitude = -118.135144; captureRadius = 10; duration = 219; initialDepth = 724.657750; finalDepth = 720.952895; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 720.952895 # Seafloor depth: -770.952895 # behavior reson { duration = RESON_DURATION; 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 51 # Segment length 109.590566 meters # Minimum depth: 774.657750 meters looking forward 100.000000 meters along route # Maximum depth: 778.017811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.657750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361595; longitude = -118.136218; captureRadius = 10; duration = 219; initialDepth = 729.147219; finalDepth = 724.657750; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 724.65775 # Seafloor depth: -774.657750 # behavior reson { duration = RESON_DURATION; 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 51 # Segment length 109.591017 meters # Minimum depth: 779.147219 meters looking forward 100.000000 meters along route # Maximum depth: 783.561451 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.147219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361189; longitude = -118.137292; captureRadius = 10; duration = 219; initialDepth = 735.349934; finalDepth = 729.147219; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 729.147219 # Seafloor depth: -779.147219 # behavior reson { duration = RESON_DURATION; 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 51 # Segment length 109.591467 meters # Minimum depth: 785.349934 meters looking forward 100.000000 meters along route # Maximum depth: 788.057860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.349934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360783; longitude = -118.138366; captureRadius = 10; duration = 219; initialDepth = 735.585299; finalDepth = 735.349934; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 735.349934 # Seafloor depth: -785.349934 # behavior reson { duration = RESON_DURATION; 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 51 # Segment length 118.146075 meters # Minimum depth: 785.585299 meters looking forward 100.000000 meters along route # Maximum depth: 787.140266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.585299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360377; longitude = -118.139440; captureRadius = 10; duration = 236; initialDepth = 736.738916; finalDepth = 735.585299; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.184295 # Actual altitude: 51.184295 # Commanded vehicle depth: 735.585299 # Seafloor depth: -786.769594 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.74; 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 = 204.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 101.038210 meters # Minimum depth: 786.738916 meters looking forward 100.000000 meters along route # Maximum depth: 789.107615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.738916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359940; longitude = -118.140597; captureRadius = 10; duration = 202; initialDepth = 698.396723; finalDepth = 736.738916; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.184295 # Actual altitude: 51.184295 # Commanded vehicle depth: 736.738916 # Seafloor depth: -787.326384 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.74; 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 = 204.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 116.495595 meters # Minimum depth: 748.396723 meters looking forward 100.000000 meters along route # Maximum depth: 783.474191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.396723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359566; longitude = -118.141588; captureRadius = 10; duration = 232; initialDepth = 682.740770; finalDepth = 698.396723; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.0774680000001 # Actual altitude: 85.0774680000001 # Commanded vehicle depth: 698.396723 # Seafloor depth: -783.474191 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 340.31; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.03; MB_Bottom_Detect_Filter_Max_Range = 340.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 102.690493 meters # Minimum depth: 732.740770 meters looking forward 100.000000 meters along route # Maximum depth: 746.703942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.740770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359134; longitude = -118.142729; captureRadius = 10; duration = 205; initialDepth = 676.165972; finalDepth = 682.740770; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.0774680000001 # Actual altitude: 85.0774680000001 # Commanded vehicle depth: 682.74077 # Seafloor depth: -746.703942 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 340.31; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.03; MB_Bottom_Detect_Filter_Max_Range = 340.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 114.845086 meters # Minimum depth: 726.165972 meters looking forward 100.000000 meters along route # Maximum depth: 728.825186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.165972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358754; longitude = -118.143735; captureRadius = 10; duration = 229; initialDepth = 675.497446; finalDepth = 676.165972; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.963172 # Actual altitude: 63.963172 # Commanded vehicle depth: 676.165972 # Seafloor depth: -728.825186 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 255.85; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.59; MB_Bottom_Detect_Filter_Max_Range = 255.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 255.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 104.342804 meters # Minimum depth: 725.497446 meters looking forward 100.000000 meters along route # Maximum depth: 726.063710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.497446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358329; longitude = -118.144861; captureRadius = 10; duration = 208; initialDepth = 674.050205; finalDepth = 675.497446; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.659214 # Actual altitude: 52.659214 # Commanded vehicle depth: 675.497446 # Seafloor depth: -726.063710 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 210.64; 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 = 210.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 113.194551 meters # Minimum depth: 724.050205 meters looking forward 100.000000 meters along route # Maximum depth: 725.489249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.050205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357943; longitude = -118.145883; captureRadius = 10; duration = 226; initialDepth = 673.864679; finalDepth = 674.050205; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.19913 # Actual altitude: 51.19913 # Commanded vehicle depth: 674.050205 # Seafloor depth: -725.249335 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.80; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 105.995141 meters # Minimum depth: 723.864679 meters looking forward 100.000000 meters along route # Maximum depth: 724.685997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.864679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357523; longitude = -118.146993; captureRadius = 10; duration = 211; initialDepth = 675.497524; finalDepth = 673.864679; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.19913 # Actual altitude: 51.19913 # Commanded vehicle depth: 673.864679 # Seafloor depth: -723.986946 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.80; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 111.543989 meters # Minimum depth: 725.497524 meters looking forward 100.000000 meters along route # Maximum depth: 726.010997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.497524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357131; longitude = -118.148031; captureRadius = 10; duration = 223; initialDepth = 675.249204; finalDepth = 675.497524; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.122267 # Actual altitude: 50.122267 # Commanded vehicle depth: 675.497524 # Seafloor depth: -725.497524 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.49; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.05; MB_Bottom_Detect_Filter_Max_Range = 200.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 107.647506 meters # Minimum depth: 725.249204 meters looking forward 100.000000 meters along route # Maximum depth: 726.863223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.249204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356718; longitude = -118.149124; captureRadius = 10; duration = 215; initialDepth = 678.426364; finalDepth = 675.249204; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.26651 # Actual altitude: 50.26651 # Commanded vehicle depth: 675.249204 # Seafloor depth: -725.515714 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.07; 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 = 201.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 109.893400 meters # Minimum depth: 728.426364 meters looking forward 100.000000 meters along route # Maximum depth: 730.951970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.426364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356319; longitude = -118.150179; captureRadius = 10; duration = 219; initialDepth = 680.782624; finalDepth = 678.426364; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.26651 # Actual altitude: 50.26651 # Commanded vehicle depth: 678.426364 # Seafloor depth: -728.426364 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.07; 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 = 201.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 100.612663 meters # Minimum depth: 730.782624 meters looking forward 100.000000 meters along route # Maximum depth: 731.576674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.782624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355913; longitude = -118.151256; captureRadius = 10; duration = 201; initialDepth = 677.003779; finalDepth = 680.782624; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.1900199999999 # Actual altitude: 50.1900199999999 # Commanded vehicle depth: 680.782624 # Seafloor depth: -730.972644 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 200.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 50 # Segment length 149.954764 meters # Minimum depth: 727.003779 meters looking forward 100.000000 meters along route # Maximum depth: 731.580982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 677.003779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355540; longitude = -118.152242; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 680.285339; finalDepth = 677.003779; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 54.535406 # Actual altitude: 54.535406 # Commanded vehicle depth: 677.003779 # Seafloor depth: -731.539185 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 218.14; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.81; MB_Bottom_Detect_Filter_Max_Range = 218.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 49 # Segment length 115.550620 meters # Minimum depth: 730.285339 meters looking forward 100.000000 meters along route # Maximum depth: 733.493321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.285339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354307; longitude = -118.151580; captureRadius = 10; duration = 231; # abortOnTimeout = True; initialDepth = 679.406774; finalDepth = 680.285339; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.535406 # Actual altitude: 54.535406 # Commanded vehicle depth: 680.285339 # Seafloor depth: -730.285339 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 218.14; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.81; MB_Bottom_Detect_Filter_Max_Range = 218.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 109.596349 meters # Minimum depth: 729.406774 meters looking forward 100.000000 meters along route # Maximum depth: 731.244676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.406774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354735; longitude = -118.150448; captureRadius = 10; duration = 219; initialDepth = 677.458326; finalDepth = 679.406774; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.798318 # Actual altitude: 51.798318 # Commanded vehicle depth: 679.406774 # Seafloor depth: -731.205092 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.19; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 207.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 109.595898 meters # Minimum depth: 727.458326 meters looking forward 100.000000 meters along route # Maximum depth: 729.449270 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 677.458326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355141; longitude = -118.149374; captureRadius = 10; duration = 219; initialDepth = 676.843196; finalDepth = 677.458326; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9909439999999 # Actual altitude: 51.9909439999999 # Commanded vehicle depth: 677.458326 # Seafloor depth: -729.449270 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.96; 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 = 207.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 109.595448 meters # Minimum depth: 726.843196 meters looking forward 100.000000 meters along route # Maximum depth: 727.652960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.843196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355546; longitude = -118.148300; captureRadius = 10; duration = 219; initialDepth = 675.173447; finalDepth = 676.843196; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9909439999999 # Actual altitude: 51.9909439999999 # Commanded vehicle depth: 676.843196 # Seafloor depth: -727.238364 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.96; 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 = 207.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 109.594997 meters # Minimum depth: 725.173447 meters looking forward 100.000000 meters along route # Maximum depth: 727.632929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.173447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355952; longitude = -118.147226; captureRadius = 10; duration = 219; initialDepth = 674.015212; finalDepth = 675.173447; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.459482 # Actual altitude: 52.459482 # Commanded vehicle depth: 675.173447 # Seafloor depth: -727.632929 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.84; 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 = 209.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 109.594547 meters # Minimum depth: 724.015212 meters looking forward 100.000000 meters along route # Maximum depth: 725.420888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.015212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356358; longitude = -118.146152; captureRadius = 10; duration = 219; initialDepth = 673.434788; finalDepth = 674.015212; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.459482 # Actual altitude: 52.459482 # Commanded vehicle depth: 674.015212 # Seafloor depth: -725.420888 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.84; 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 = 209.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 109.594096 meters # Minimum depth: 723.434788 meters looking forward 100.000000 meters along route # Maximum depth: 724.945869 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.434788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356764; longitude = -118.145078; captureRadius = 10; duration = 219; initialDepth = 672.181100; finalDepth = 673.434788; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.511081 # Actual altitude: 51.511081 # Commanded vehicle depth: 673.434788 # Seafloor depth: -724.945869 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.04; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 206.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 109.593645 meters # Minimum depth: 722.181100 meters looking forward 100.000000 meters along route # Maximum depth: 744.344831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.181100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357169; longitude = -118.144004; captureRadius = 10; duration = 219; initialDepth = 698.093636; finalDepth = 672.181100; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.511081 # Actual altitude: 51.511081 # Commanded vehicle depth: 672.1811 # Seafloor depth: -722.181100 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.04; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 206.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 109.593195 meters # Minimum depth: 748.093636 meters looking forward 100.000000 meters along route # Maximum depth: 777.925312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.093636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357575; longitude = -118.142930; captureRadius = 10; duration = 219; initialDepth = 737.480012; finalDepth = 698.093636; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 698.093636 # Seafloor depth: -748.093636 # behavior reson { duration = RESON_DURATION; 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 49 # Segment length 109.592744 meters # Minimum depth: 787.480012 meters looking forward 100.000000 meters along route # Maximum depth: 792.384369 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.480012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357981; longitude = -118.141856; captureRadius = 10; duration = 219; initialDepth = 740.099298; finalDepth = 737.480012; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 737.480012 # Seafloor depth: -787.480012 # behavior reson { duration = RESON_DURATION; 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 49 # Segment length 109.592295 meters # Minimum depth: 790.099298 meters looking forward 100.000000 meters along route # Maximum depth: 791.742804 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.099298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358387; longitude = -118.140782; captureRadius = 10; duration = 219; initialDepth = 735.670091; finalDepth = 740.099298; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2768120000001 # Actual altitude: 50.2768120000001 # Commanded vehicle depth: 740.099298 # Seafloor depth: -790.376110 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.11; 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 = 201.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 109.591843 meters # Minimum depth: 785.670091 meters looking forward 100.000000 meters along route # Maximum depth: 790.306983 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.670091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358792; longitude = -118.139708; captureRadius = 10; duration = 219; initialDepth = 733.162092; finalDepth = 735.670091; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.636892 # Actual altitude: 54.636892 # Commanded vehicle depth: 735.670091 # Seafloor depth: -790.306983 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 218.55; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.85; MB_Bottom_Detect_Filter_Max_Range = 218.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 109.591393 meters # Minimum depth: 783.162092 meters looking forward 100.000000 meters along route # Maximum depth: 785.162917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 733.162092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359198; longitude = -118.138634; captureRadius = 10; duration = 219; initialDepth = 733.095353; finalDepth = 733.162092; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.636892 # Actual altitude: 54.636892 # Commanded vehicle depth: 733.162092 # Seafloor depth: -785.162917 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 218.55; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.85; MB_Bottom_Detect_Filter_Max_Range = 218.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 109.590943 meters # Minimum depth: 783.095353 meters looking forward 100.000000 meters along route # Maximum depth: 785.499991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 733.095353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359604; longitude = -118.137560; captureRadius = 10; duration = 219; initialDepth = 729.288698; finalDepth = 733.095353; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.404638 # Actual altitude: 52.404638 # Commanded vehicle depth: 733.095353 # Seafloor depth: -785.499991 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.62; 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 = 209.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 109.590493 meters # Minimum depth: 779.288698 meters looking forward 100.000000 meters along route # Maximum depth: 782.379316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.288698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360010; longitude = -118.136486; captureRadius = 10; duration = 219; initialDepth = 725.386528; finalDepth = 729.288698; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0906180000001 # Actual altitude: 53.0906180000001 # Commanded vehicle depth: 729.288698 # Seafloor depth: -782.379316 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 212.36; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.24; MB_Bottom_Detect_Filter_Max_Range = 212.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 109.590042 meters # Minimum depth: 775.386528 meters looking forward 100.000000 meters along route # Maximum depth: 778.328936 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.386528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360416; longitude = -118.135412; captureRadius = 10; duration = 219; initialDepth = 722.333939; finalDepth = 725.386528; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0906180000001 # Actual altitude: 53.0906180000001 # Commanded vehicle depth: 725.386528 # Seafloor depth: -778.328936 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 212.36; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.24; MB_Bottom_Detect_Filter_Max_Range = 212.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 109.589592 meters # Minimum depth: 772.333939 meters looking forward 100.000000 meters along route # Maximum depth: 774.747047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.333939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360821; longitude = -118.134338; captureRadius = 10; duration = 219; initialDepth = 719.222060; finalDepth = 722.333939; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.942408 # Actual altitude: 52.942408 # Commanded vehicle depth: 722.333939 # Seafloor depth: -774.747047 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 211.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 109.589141 meters # Minimum depth: 769.222060 meters looking forward 100.000000 meters along route # Maximum depth: 771.566400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.222060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361227; longitude = -118.133264; captureRadius = 10; duration = 219; initialDepth = 716.608060; finalDepth = 719.222060; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.413108 # Actual altitude: 52.413108 # Commanded vehicle depth: 719.22206 # Seafloor depth: -771.566400 # behavior reson { duration = RESON_DURATION; 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 = 20.97; 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 49 # Segment length 109.588691 meters # Minimum depth: 766.608060 meters looking forward 100.000000 meters along route # Maximum depth: 768.659551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.608060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361633; longitude = -118.132190; captureRadius = 10; duration = 219; initialDepth = 713.957362; finalDepth = 716.608060; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.34434 # Actual altitude: 52.34434 # Commanded vehicle depth: 716.60806 # Seafloor depth: -768.659551 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.38; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.94; MB_Bottom_Detect_Filter_Max_Range = 209.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 109.588241 meters # Minimum depth: 763.957362 meters looking forward 100.000000 meters along route # Maximum depth: 765.953970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.957362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362039; longitude = -118.131116; captureRadius = 10; duration = 219; initialDepth = 711.009427; finalDepth = 713.957362; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0514909999999 # Actual altitude: 52.0514909999999 # Commanded vehicle depth: 713.957362 # Seafloor depth: -765.953970 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.21; 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 = 208.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 121.247783 meters # Minimum depth: 761.009427 meters looking forward 100.000000 meters along route # Maximum depth: 763.413407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.009427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362444; longitude = -118.130042; captureRadius = 10; duration = 242; initialDepth = 708.699751; finalDepth = 711.009427; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.40398 # Actual altitude: 52.40398 # Commanded vehicle depth: 711.009427 # Seafloor depth: -763.413407 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.62; 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 = 209.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 109.308084 meters # Minimum depth: 758.699751 meters looking forward 100.000000 meters along route # Maximum depth: 760.757673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.699751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362893; longitude = -118.128854; captureRadius = 10; duration = 218; initialDepth = 708.456543; finalDepth = 708.699751; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.40398 # Actual altitude: 52.40398 # Commanded vehicle depth: 708.699751 # Seafloor depth: -760.757673 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 209.62; 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 = 209.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.62; 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 48 # Segment length 149.951778 meters # Minimum depth: 758.456543 meters looking forward 100.000000 meters along route # Maximum depth: 762.056169 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.456543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363298; longitude = -118.127783; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 712.584961; finalDepth = 708.456543; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 52.057922 # Actual altitude: 52.057922 # Commanded vehicle depth: 708.456543 # Seafloor depth: -758.456543 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 208.23; 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 = 208.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 47 # Segment length 138.856841 meters # Minimum depth: 762.584961 meters looking forward 100.000000 meters along route # Maximum depth: 764.983772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.584961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362065; longitude = -118.127121; captureRadius = 10; duration = 277; # abortOnTimeout = True; initialDepth = 715.096713; finalDepth = 712.584961; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 712.584961 # Seafloor depth: -762.584961 # behavior reson { duration = RESON_DURATION; 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 47 # Segment length 104.463555 meters # Minimum depth: 765.096713 meters looking forward 100.000000 meters along route # Maximum depth: 766.813092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.096713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361551; longitude = -118.128482; captureRadius = 10; duration = 208; initialDepth = 717.448972; finalDepth = 715.096713; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 715.096713 # Seafloor depth: -765.096713 # behavior reson { duration = RESON_DURATION; 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 47 # Segment length 113.058686 meters # Minimum depth: 767.448972 meters looking forward 100.000000 meters along route # Maximum depth: 770.034690 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.448972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361164; longitude = -118.129505; captureRadius = 10; duration = 226; initialDepth = 720.119129; finalDepth = 717.448972; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 717.448972 # Seafloor depth: -767.448972 # behavior reson { duration = RESON_DURATION; 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 47 # Segment length 106.124989 meters # Minimum depth: 770.119129 meters looking forward 100.000000 meters along route # Maximum depth: 772.070257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.119129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360745; longitude = -118.130613; captureRadius = 10; duration = 212; initialDepth = 722.769032; finalDepth = 720.119129; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 720.119129 # Seafloor depth: -770.119129 # behavior reson { duration = RESON_DURATION; 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 47 # Segment length 111.399027 meters # Minimum depth: 772.769032 meters looking forward 100.000000 meters along route # Maximum depth: 775.697790 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.769032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360352; longitude = -118.131653; captureRadius = 10; duration = 222; initialDepth = 725.748026; finalDepth = 722.769032; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 722.769032 # Seafloor depth: -772.769032 # behavior reson { duration = RESON_DURATION; 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 47 # Segment length 107.786449 meters # Minimum depth: 775.748026 meters looking forward 100.000000 meters along route # Maximum depth: 778.011485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.748026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359940; longitude = -118.132745; captureRadius = 10; duration = 215; initialDepth = 728.815822; finalDepth = 725.748026; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 725.748026 # Seafloor depth: -775.748026 # behavior reson { duration = RESON_DURATION; 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 47 # Segment length 109.739340 meters # Minimum depth: 778.815822 meters looking forward 100.000000 meters along route # Maximum depth: 782.132859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.815822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359541; longitude = -118.133801; captureRadius = 10; duration = 219; initialDepth = 732.137616; finalDepth = 728.815822; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 728.815822 # Seafloor depth: -778.815822 # behavior reson { duration = RESON_DURATION; 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 47 # Segment length 109.447937 meters # Minimum depth: 782.137616 meters looking forward 100.000000 meters along route # Maximum depth: 784.893552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.137616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359134; longitude = -118.134877; captureRadius = 10; duration = 218; initialDepth = 735.963558; finalDepth = 732.137616; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 732.137616 # Seafloor depth: -782.137616 # behavior reson { duration = RESON_DURATION; 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 47 # Segment length 109.594314 meters # Minimum depth: 785.963558 meters looking forward 100.000000 meters along route # Maximum depth: 793.417886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.963558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358729; longitude = -118.135949; captureRadius = 10; duration = 219; initialDepth = 743.553235; finalDepth = 735.963558; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 735.963558 # Seafloor depth: -785.963558 # behavior reson { duration = RESON_DURATION; 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 47 # Segment length 109.594765 meters # Minimum depth: 793.553235 meters looking forward 100.000000 meters along route # Maximum depth: 796.970971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.553235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358323; longitude = -118.137023; captureRadius = 10; duration = 219; initialDepth = 738.249252; finalDepth = 743.553235; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 743.553235 # Seafloor depth: -793.553235 # behavior reson { duration = RESON_DURATION; 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 47 # Segment length 109.595215 meters # Minimum depth: 788.249252 meters looking forward 100.000000 meters along route # Maximum depth: 793.643545 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.249252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357918; longitude = -118.138097; captureRadius = 10; duration = 219; initialDepth = 735.085240; finalDepth = 738.249252; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3942930000001 # Actual altitude: 55.3942930000001 # Commanded vehicle depth: 738.249252 # Seafloor depth: -793.643545 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 221.58; 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 = 221.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 109.595665 meters # Minimum depth: 785.085240 meters looking forward 100.000000 meters along route # Maximum depth: 788.196392 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.085240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357512; longitude = -118.139171; captureRadius = 10; duration = 219; initialDepth = 735.635775; finalDepth = 735.085240; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3942930000001 # Actual altitude: 55.3942930000001 # Commanded vehicle depth: 735.08524 # Seafloor depth: -788.196392 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 221.58; 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 = 221.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 109.596116 meters # Minimum depth: 785.635775 meters looking forward 100.000000 meters along route # Maximum depth: 788.412325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.635775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357106; longitude = -118.140245; captureRadius = 10; duration = 219; initialDepth = 734.120454; finalDepth = 735.635775; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1111519999999 # Actual altitude: 53.1111519999999 # Commanded vehicle depth: 735.635775 # Seafloor depth: -785.635775 # behavior reson { duration = RESON_DURATION; 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 47 # Segment length 109.596567 meters # Minimum depth: 784.120454 meters looking forward 100.000000 meters along route # Maximum depth: 788.267999 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.120454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356700; longitude = -118.141319; captureRadius = 10; duration = 219; initialDepth = 689.623442; finalDepth = 734.120454; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.276992 # Actual altitude: 52.276992 # Commanded vehicle depth: 734.120454 # Seafloor depth: -786.397446 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.11; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 109.597017 meters # Minimum depth: 739.623442 meters looking forward 100.000000 meters along route # Maximum depth: 777.180759 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.623442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356294; longitude = -118.142393; captureRadius = 10; duration = 219; initialDepth = 674.080192; finalDepth = 689.623442; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.557317 # Actual altitude: 87.557317 # Commanded vehicle depth: 689.623442 # Seafloor depth: -777.180759 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.02; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 109.597467 meters # Minimum depth: 724.080192 meters looking forward 100.000000 meters along route # Maximum depth: 736.931482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.080192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355888; longitude = -118.143467; captureRadius = 10; duration = 219; initialDepth = 673.987005; finalDepth = 674.080192; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.557317 # Actual altitude: 87.557317 # Commanded vehicle depth: 674.080192 # Seafloor depth: -736.931482 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.02; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 109.597918 meters # Minimum depth: 723.987005 meters looking forward 100.000000 meters along route # Maximum depth: 724.627787 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.987005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355483; longitude = -118.144541; captureRadius = 10; duration = 219; initialDepth = 673.713289; finalDepth = 673.987005; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.8512899999999 # Actual altitude: 62.8512899999999 # Commanded vehicle depth: 673.987005 # Seafloor depth: -724.601866 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 251.41; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.14; MB_Bottom_Detect_Filter_Max_Range = 251.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 109.598369 meters # Minimum depth: 723.713289 meters looking forward 100.000000 meters along route # Maximum depth: 725.056612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.713289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355077; longitude = -118.145615; captureRadius = 10; duration = 219; initialDepth = 675.920990; finalDepth = 673.713289; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.614861 # Actual altitude: 50.614861 # Commanded vehicle depth: 673.713289 # Seafloor depth: -724.046562 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 109.598819 meters # Minimum depth: 725.920990 meters looking forward 100.000000 meters along route # Maximum depth: 727.845453 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.920990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354671; longitude = -118.146689; captureRadius = 10; duration = 219; initialDepth = 678.342573; finalDepth = 675.920990; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.333273 # Actual altitude: 50.333273 # Commanded vehicle depth: 675.92099 # Seafloor depth: -726.055359 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.33; 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 = 201.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 109.599270 meters # Minimum depth: 728.342573 meters looking forward 100.000000 meters along route # Maximum depth: 730.504166 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.342573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354265; longitude = -118.147763; captureRadius = 10; duration = 219; initialDepth = 680.865663; finalDepth = 678.342573; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.134369 # Actual altitude: 50.134369 # Commanded vehicle depth: 678.342573 # Seafloor depth: -728.342573 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.54; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.05; MB_Bottom_Detect_Filter_Max_Range = 200.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 109.599720 meters # Minimum depth: 730.865663 meters looking forward 100.000000 meters along route # Maximum depth: 734.842057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.865663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353859; longitude = -118.148837; captureRadius = 10; duration = 219; initialDepth = 681.628811; finalDepth = 680.865663; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9763939999999 # Actual altitude: 53.9763939999999 # Commanded vehicle depth: 680.865663 # Seafloor depth: -734.842057 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 215.91; 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 = 215.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 102.795577 meters # Minimum depth: 731.628811 meters looking forward 100.000000 meters along route # Maximum depth: 734.808605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.628811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353454; longitude = -118.149911; captureRadius = 10; duration = 205; initialDepth = 684.935439; finalDepth = 681.628811; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.9763939999999 # Actual altitude: 53.9763939999999 # Commanded vehicle depth: 681.628811 # Seafloor depth: -731.771884 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 215.91; 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 = 215.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.91; 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 46 # Segment length 149.955381 meters # Minimum depth: 734.935439 meters looking forward 100.000000 meters along route # Maximum depth: 736.668292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.935439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353073; longitude = -118.150918; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 683.613068; finalDepth = 684.935439; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50.645036 # Actual altitude: 50.645036 # Commanded vehicle depth: 684.935439 # Seafloor depth: -735.580475 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 202.58; 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 = 202.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 45 # Segment length 117.436165 meters # Minimum depth: 733.613068 meters looking forward 100.000000 meters along route # Maximum depth: 736.829315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.613068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351840; longitude = -118.150256; captureRadius = 10; duration = 234; # abortOnTimeout = True; initialDepth = 680.628087; finalDepth = 683.613068; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.216247 # Actual altitude: 53.216247 # Commanded vehicle depth: 683.613068 # Seafloor depth: -736.829315 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 212.86; 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 = 212.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 112.328037 meters # Minimum depth: 730.628087 meters looking forward 100.000000 meters along route # Maximum depth: 733.673235 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.628087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352275; longitude = -118.149105; captureRadius = 10; duration = 224; initialDepth = 679.336290; finalDepth = 680.628087; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.216247 # Actual altitude: 53.216247 # Commanded vehicle depth: 680.628087 # Seafloor depth: -733.673235 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 212.86; 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 = 212.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 106.869252 meters # Minimum depth: 729.336290 meters looking forward 100.000000 meters along route # Maximum depth: 732.273491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.336290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352691; longitude = -118.148005; captureRadius = 10; duration = 213; initialDepth = 677.482783; finalDepth = 679.336290; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0451479999999 # Actual altitude: 53.0451479999999 # Commanded vehicle depth: 679.33629 # Seafloor depth: -731.928750 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 212.18; 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 = 212.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 110.690644 meters # Minimum depth: 727.482783 meters looking forward 100.000000 meters along route # Maximum depth: 728.708695 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 677.482783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353086; longitude = -118.146957; captureRadius = 10; duration = 221; initialDepth = 675.473720; finalDepth = 677.482783; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5924600000001 # Actual altitude: 52.5924600000001 # Commanded vehicle depth: 677.482783 # Seafloor depth: -728.378907 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 210.37; 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 = 210.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 108.504843 meters # Minimum depth: 725.473720 meters looking forward 100.000000 meters along route # Maximum depth: 727.948943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.473720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353496; longitude = -118.145873; captureRadius = 10; duration = 217; initialDepth = 676.541323; finalDepth = 675.473720; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.475223 # Actual altitude: 52.475223 # Commanded vehicle depth: 675.47372 # Seafloor depth: -727.948943 # behavior reson { duration = RESON_DURATION; 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 45 # Segment length 109.597067 meters # Minimum depth: 726.541323 meters looking forward 100.000000 meters along route # Maximum depth: 740.458866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.541323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353898; longitude = -118.144809; captureRadius = 10; duration = 219; initialDepth = 690.630753; finalDepth = 676.541323; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.475223 # Actual altitude: 52.475223 # Commanded vehicle depth: 676.541323 # Seafloor depth: -726.589291 # behavior reson { duration = RESON_DURATION; 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 45 # Segment length 109.596617 meters # Minimum depth: 740.630753 meters looking forward 100.000000 meters along route # Maximum depth: 775.610047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.630753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354304; longitude = -118.143735; captureRadius = 10; duration = 219; initialDepth = 739.796248; finalDepth = 690.630753; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.047968 # Actual altitude: 50.047968 # Commanded vehicle depth: 690.630753 # Seafloor depth: -740.630753 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.19; 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 = 200.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 109.596167 meters # Minimum depth: 789.796248 meters looking forward 100.000000 meters along route # Maximum depth: 798.714351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.796248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354709; longitude = -118.142661; captureRadius = 10; duration = 219; initialDepth = 742.490219; finalDepth = 739.796248; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 739.796248 # Seafloor depth: -789.796248 # behavior reson { duration = RESON_DURATION; 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 45 # Segment length 109.595716 meters # Minimum depth: 792.490219 meters looking forward 100.000000 meters along route # Maximum depth: 798.412041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.490219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355115; longitude = -118.141588; captureRadius = 10; duration = 219; initialDepth = 739.995250; finalDepth = 742.490219; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.921822 # Actual altitude: 55.921822 # Commanded vehicle depth: 742.490219 # Seafloor depth: -798.412041 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 223.69; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.37; MB_Bottom_Detect_Filter_Max_Range = 223.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 109.595266 meters # Minimum depth: 789.995250 meters looking forward 100.000000 meters along route # Maximum depth: 792.066810 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.995250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355521; longitude = -118.140514; captureRadius = 10; duration = 219; initialDepth = 736.227643; finalDepth = 739.995250; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.921822 # Actual altitude: 55.921822 # Commanded vehicle depth: 739.99525 # Seafloor depth: -792.066810 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 223.69; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.37; MB_Bottom_Detect_Filter_Max_Range = 223.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 109.594815 meters # Minimum depth: 786.227643 meters looking forward 100.000000 meters along route # Maximum depth: 789.900817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.227643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355927; longitude = -118.139440; captureRadius = 10; duration = 219; initialDepth = 734.169700; finalDepth = 736.227643; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.673174 # Actual altitude: 53.673174 # Commanded vehicle depth: 736.227643 # Seafloor depth: -789.900817 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 214.69; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 214.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 109.594365 meters # Minimum depth: 784.169700 meters looking forward 100.000000 meters along route # Maximum depth: 785.367042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.169700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356332; longitude = -118.138366; captureRadius = 10; duration = 219; initialDepth = 734.890974; finalDepth = 734.169700; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.673174 # Actual altitude: 53.673174 # Commanded vehicle depth: 734.1697 # Seafloor depth: -784.864965 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 214.69; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 214.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 109.593914 meters # Minimum depth: 784.890974 meters looking forward 100.000000 meters along route # Maximum depth: 785.388089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.890974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356738; longitude = -118.137292; captureRadius = 10; duration = 219; initialDepth = 736.343721; finalDepth = 734.890974; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6952649999999 # Actual altitude: 50.6952649999999 # Commanded vehicle depth: 734.890974 # Seafloor depth: -785.388089 # behavior reson { duration = RESON_DURATION; 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 45 # Segment length 109.593465 meters # Minimum depth: 786.343721 meters looking forward 100.000000 meters along route # Maximum depth: 787.556531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.343721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357144; longitude = -118.136218; captureRadius = 10; duration = 219; initialDepth = 735.637036; finalDepth = 736.343721; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.497115 # Actual altitude: 50.497115 # Commanded vehicle depth: 736.343721 # Seafloor depth: -786.343721 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.99; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 201.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 109.593014 meters # Minimum depth: 785.637036 meters looking forward 100.000000 meters along route # Maximum depth: 787.282485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.637036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357550; longitude = -118.135144; captureRadius = 10; duration = 219; initialDepth = 732.062976; finalDepth = 735.637036; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.645449 # Actual altitude: 51.645449 # Commanded vehicle depth: 735.637036 # Seafloor depth: -787.282485 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.58; 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 = 206.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 109.592563 meters # Minimum depth: 782.062976 meters looking forward 100.000000 meters along route # Maximum depth: 784.905230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.062976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357955; longitude = -118.134070; captureRadius = 10; duration = 219; initialDepth = 729.512072; finalDepth = 732.062976; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8422539999999 # Actual altitude: 52.8422539999999 # Commanded vehicle depth: 732.062976 # Seafloor depth: -784.905230 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 211.37; 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 = 211.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 109.592114 meters # Minimum depth: 779.512072 meters looking forward 100.000000 meters along route # Maximum depth: 781.817496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.512072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358361; longitude = -118.132996; captureRadius = 10; duration = 219; initialDepth = 726.175932; finalDepth = 729.512072; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8422539999999 # Actual altitude: 52.8422539999999 # Commanded vehicle depth: 729.512072 # Seafloor depth: -781.817496 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 211.37; 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 = 211.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 109.591663 meters # Minimum depth: 776.175932 meters looking forward 100.000000 meters along route # Maximum depth: 778.770427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.175932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358767; longitude = -118.131922; captureRadius = 10; duration = 219; initialDepth = 723.880000; finalDepth = 726.175932; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5944950000001 # Actual altitude: 52.5944950000001 # Commanded vehicle depth: 726.175932 # Seafloor depth: -778.770427 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 210.38; 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 = 210.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 109.591213 meters # Minimum depth: 773.880000 meters looking forward 100.000000 meters along route # Maximum depth: 775.910680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.880000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359173; longitude = -118.130848; captureRadius = 10; duration = 219; initialDepth = 720.938234; finalDepth = 723.880000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5944950000001 # Actual altitude: 52.5944950000001 # Commanded vehicle depth: 723.88 # Seafloor depth: -775.910680 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 210.38; 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 = 210.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 109.590763 meters # Minimum depth: 770.938234 meters looking forward 100.000000 meters along route # Maximum depth: 773.219726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.938234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359579; longitude = -118.129774; captureRadius = 10; duration = 219; initialDepth = 718.817757; finalDepth = 720.938234; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2814920000001 # Actual altitude: 52.2814920000001 # Commanded vehicle depth: 720.938234 # Seafloor depth: -773.219726 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.13; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 109.590312 meters # Minimum depth: 768.817757 meters looking forward 100.000000 meters along route # Maximum depth: 770.663199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.817757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359984; longitude = -118.128700; captureRadius = 10; duration = 219; initialDepth = 715.850852; finalDepth = 718.817757; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2814920000001 # Actual altitude: 52.2814920000001 # Commanded vehicle depth: 718.817757 # Seafloor depth: -770.663199 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.13; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 119.088143 meters # Minimum depth: 765.850852 meters looking forward 100.000000 meters along route # Maximum depth: 768.217589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.850852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360390; longitude = -118.127626; captureRadius = 10; duration = 238; initialDepth = 715.456055; finalDepth = 715.850852; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.3667369999999 # Actual altitude: 52.3667369999999 # Commanded vehicle depth: 715.850852 # Seafloor depth: -768.217589 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 209.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.95; MB_Bottom_Detect_Filter_Max_Range = 209.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 149.914199 meters # Minimum depth: 765.456055 meters looking forward 100.000000 meters along route # Maximum depth: 768.867659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.456055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360831; longitude = -118.126459; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 719.340332; finalDepth = 715.456055; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 52.3667369999999 # Actual altitude: 52.3667369999999 # Commanded vehicle depth: 715.456055 # Seafloor depth: -765.456055 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 209.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.95; MB_Bottom_Detect_Filter_Max_Range = 209.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 43 # Segment length 131.748424 meters # Minimum depth: 769.340332 meters looking forward 100.000000 meters along route # Maximum depth: 771.748483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.340332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359598; longitude = -118.125798; captureRadius = 10; duration = 263; # abortOnTimeout = True; initialDepth = 721.890722; finalDepth = 719.340332; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 719.340332 # Seafloor depth: -769.340332 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 109.594460 meters # Minimum depth: 771.890722 meters looking forward 100.000000 meters along route # Maximum depth: 773.700583 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.890722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359110; longitude = -118.127089; captureRadius = 10; duration = 219; initialDepth = 724.320427; finalDepth = 721.890722; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 721.890722 # Seafloor depth: -771.890722 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 109.594910 meters # Minimum depth: 774.320427 meters looking forward 100.000000 meters along route # Maximum depth: 776.656191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.320427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358704; longitude = -118.128163; captureRadius = 10; duration = 219; initialDepth = 726.848813; finalDepth = 724.320427; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 724.320427 # Seafloor depth: -774.320427 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 109.595360 meters # Minimum depth: 776.848813 meters looking forward 100.000000 meters along route # Maximum depth: 778.823149 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.848813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358298; longitude = -118.129237; captureRadius = 10; duration = 219; initialDepth = 729.499956; finalDepth = 726.848813; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 726.848813 # Seafloor depth: -776.848813 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 109.595811 meters # Minimum depth: 779.499956 meters looking forward 100.000000 meters along route # Maximum depth: 782.030808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.499956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357893; longitude = -118.130311; captureRadius = 10; duration = 219; initialDepth = 732.289149; finalDepth = 729.499956; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 729.499956 # Seafloor depth: -779.499956 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 109.596261 meters # Minimum depth: 782.289149 meters looking forward 100.000000 meters along route # Maximum depth: 784.538017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.289149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357487; longitude = -118.131385; captureRadius = 10; duration = 219; initialDepth = 735.334341; finalDepth = 732.289149; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 732.289149 # Seafloor depth: -782.289149 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 109.596711 meters # Minimum depth: 785.334341 meters looking forward 100.000000 meters along route # Maximum depth: 788.469487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.334341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357081; longitude = -118.132459; captureRadius = 10; duration = 219; initialDepth = 738.877536; finalDepth = 735.334341; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 735.334341 # Seafloor depth: -785.334341 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 109.597161 meters # Minimum depth: 788.877536 meters looking forward 100.000000 meters along route # Maximum depth: 792.561637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.877536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356675; longitude = -118.133533; captureRadius = 10; duration = 219; initialDepth = 742.811441; finalDepth = 738.877536; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 738.877536 # Seafloor depth: -788.877536 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 109.597612 meters # Minimum depth: 792.811441 meters looking forward 100.000000 meters along route # Maximum depth: 795.319035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.811441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356269; longitude = -118.134607; captureRadius = 10; duration = 219; initialDepth = 738.491405; finalDepth = 742.811441; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6441850000001 # Actual altitude: 51.6441850000001 # Commanded vehicle depth: 742.811441 # Seafloor depth: -794.455626 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.58; 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 = 206.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 109.598062 meters # Minimum depth: 788.491405 meters looking forward 100.000000 meters along route # Maximum depth: 792.129256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.491405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355864; longitude = -118.135681; captureRadius = 10; duration = 219; initialDepth = 734.253793; finalDepth = 738.491405; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6378510000001 # Actual altitude: 53.6378510000001 # Commanded vehicle depth: 738.491405 # Seafloor depth: -792.129256 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 214.55; 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 = 214.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 109.598512 meters # Minimum depth: 784.253793 meters looking forward 100.000000 meters along route # Maximum depth: 786.951876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.253793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355458; longitude = -118.136755; captureRadius = 10; duration = 219; initialDepth = 734.078689; finalDepth = 734.253793; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6378510000001 # Actual altitude: 53.6378510000001 # Commanded vehicle depth: 734.253793 # Seafloor depth: -786.735701 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 214.55; 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 = 214.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 109.598963 meters # Minimum depth: 784.078689 meters looking forward 100.000000 meters along route # Maximum depth: 786.418277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.078689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355052; longitude = -118.137829; captureRadius = 10; duration = 219; initialDepth = 735.903253; finalDepth = 734.078689; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.481908 # Actual altitude: 52.481908 # Commanded vehicle depth: 734.078689 # Seafloor depth: -784.367992 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.93; 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 = 209.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 109.599413 meters # Minimum depth: 785.903253 meters looking forward 100.000000 meters along route # Maximum depth: 787.158366 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.903253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354646; longitude = -118.138903; captureRadius = 10; duration = 219; initialDepth = 737.143223; finalDepth = 735.903253; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2893029999999 # Actual altitude: 50.2893029999999 # Commanded vehicle depth: 735.903253 # Seafloor depth: -785.928185 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.16; 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 = 201.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 109.599864 meters # Minimum depth: 787.143223 meters looking forward 100.000000 meters along route # Maximum depth: 789.491627 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.143223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354240; longitude = -118.139977; captureRadius = 10; duration = 219; initialDepth = 740.269156; finalDepth = 737.143223; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.024932 # Actual altitude: 50.024932 # Commanded vehicle depth: 737.143223 # Seafloor depth: -787.143223 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.10; 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 = 200.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 109.600314 meters # Minimum depth: 790.269156 meters looking forward 100.000000 meters along route # Maximum depth: 795.141896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.269156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353834; longitude = -118.141051; captureRadius = 10; duration = 219; initialDepth = 729.048283; finalDepth = 740.269156; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 740.269156 # Seafloor depth: -790.269156 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 109.600764 meters # Minimum depth: 779.048283 meters looking forward 100.000000 meters along route # Maximum depth: 795.729843 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.048283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353429; longitude = -118.142125; captureRadius = 10; duration = 219; initialDepth = 682.002768; finalDepth = 729.048283; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.68156 # Actual altitude: 66.68156 # Commanded vehicle depth: 729.048283 # Seafloor depth: -795.729843 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 266.73; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.67; MB_Bottom_Detect_Filter_Max_Range = 266.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 109.601215 meters # Minimum depth: 732.002768 meters looking forward 100.000000 meters along route # Maximum depth: 766.160866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.002768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353023; longitude = -118.143198; captureRadius = 10; duration = 219; initialDepth = 678.873633; finalDepth = 682.002768; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.1580980000001 # Actual altitude: 84.1580980000001 # Commanded vehicle depth: 682.002768 # Seafloor depth: -766.160866 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 336.63; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.66; MB_Bottom_Detect_Filter_Max_Range = 336.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 109.601666 meters # Minimum depth: 728.873633 meters looking forward 100.000000 meters along route # Maximum depth: 729.393097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.873633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352617; longitude = -118.144272; captureRadius = 10; duration = 219; initialDepth = 678.852236; finalDepth = 678.873633; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.1580980000001 # Actual altitude: 84.1580980000001 # Commanded vehicle depth: 678.873633 # Seafloor depth: -729.335560 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 336.63; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.66; MB_Bottom_Detect_Filter_Max_Range = 336.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 109.602116 meters # Minimum depth: 728.852236 meters looking forward 100.000000 meters along route # Maximum depth: 730.374946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.852236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352211; longitude = -118.145346; captureRadius = 10; duration = 219; initialDepth = 681.920699; finalDepth = 678.852236; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.307229 # Actual altitude: 51.307229 # Commanded vehicle depth: 678.852236 # Seafloor depth: -730.159465 # behavior reson { duration = RESON_DURATION; 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 43 # Segment length 109.602567 meters # Minimum depth: 731.920699 meters looking forward 100.000000 meters along route # Maximum depth: 733.132435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.920699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351805; longitude = -118.146420; captureRadius = 10; duration = 219; initialDepth = 681.277853; finalDepth = 681.920699; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.307229 # Actual altitude: 51.307229 # Commanded vehicle depth: 681.920699 # Seafloor depth: -731.985333 # behavior reson { duration = RESON_DURATION; 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 43 # Segment length 109.603018 meters # Minimum depth: 731.277853 meters looking forward 100.000000 meters along route # Maximum depth: 733.144012 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.277853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351399; longitude = -118.147494; captureRadius = 10; duration = 219; initialDepth = 684.649289; finalDepth = 681.277853; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8661589999999 # Actual altitude: 51.8661589999999 # Commanded vehicle depth: 681.277853 # Seafloor depth: -733.144012 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.46; 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 = 207.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 104.681627 meters # Minimum depth: 734.649289 meters looking forward 100.000000 meters along route # Maximum depth: 735.680297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.649289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350994; longitude = -118.148568; captureRadius = 10; duration = 209; initialDepth = 686.570206; finalDepth = 684.649289; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.8661589999999 # Actual altitude: 51.8661589999999 # Commanded vehicle depth: 684.649289 # Seafloor depth: -734.649289 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 207.46; 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 = 207.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 149.955997 meters # Minimum depth: 736.570206 meters looking forward 100.000000 meters along route # Maximum depth: 738.908815 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.570206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350606; longitude = -118.149594; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 685.625158; finalDepth = 686.570206; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # 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: 686.570206 # Seafloor depth: -736.570206 # behavior reson { duration = RESON_DURATION; 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 41 # Segment length 119.322643 meters # Minimum depth: 735.625158 meters looking forward 100.000000 meters along route # Maximum depth: 738.107483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.625158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349373; longitude = -118.148932; captureRadius = 10; duration = 238; # abortOnTimeout = True; initialDepth = 680.982092; finalDepth = 685.625158; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4823249999999 # Actual altitude: 52.4823249999999 # Commanded vehicle depth: 685.625158 # Seafloor depth: -738.107483 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.93; 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 = 209.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.602167 meters # Minimum depth: 730.982092 meters looking forward 100.000000 meters along route # Maximum depth: 735.658034 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.982092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349815; longitude = -118.147763; captureRadius = 10; duration = 219; initialDepth = 680.589709; finalDepth = 680.982092; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6759420000001 # Actual altitude: 54.6759420000001 # Commanded vehicle depth: 680.982092 # Seafloor depth: -735.658034 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 218.70; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.87; MB_Bottom_Detect_Filter_Max_Range = 218.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 109.601716 meters # Minimum depth: 730.589709 meters looking forward 100.000000 meters along route # Maximum depth: 732.916795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.589709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350221; longitude = -118.146689; captureRadius = 10; duration = 219; initialDepth = 678.261130; finalDepth = 680.589709; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6759420000001 # Actual altitude: 54.6759420000001 # Commanded vehicle depth: 680.589709 # Seafloor depth: -732.916795 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 218.70; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.87; MB_Bottom_Detect_Filter_Max_Range = 218.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 109.601265 meters # Minimum depth: 728.261130 meters looking forward 100.000000 meters along route # Maximum depth: 731.291159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.261130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350626; longitude = -118.145615; captureRadius = 10; duration = 219; initialDepth = 679.654046; finalDepth = 678.261130; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.030029 # Actual altitude: 53.030029 # Commanded vehicle depth: 678.26113 # Seafloor depth: -731.291159 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 212.12; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 109.600815 meters # Minimum depth: 729.654046 meters looking forward 100.000000 meters along route # Maximum depth: 743.551363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.654046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351032; longitude = -118.144541; captureRadius = 10; duration = 219; initialDepth = 701.469748; finalDepth = 679.654046; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.030029 # Actual altitude: 53.030029 # Commanded vehicle depth: 679.654046 # Seafloor depth: -729.654046 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 212.12; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 109.600365 meters # Minimum depth: 751.469748 meters looking forward 100.000000 meters along route # Maximum depth: 782.639706 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.469748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351438; longitude = -118.143467; captureRadius = 10; duration = 219; initialDepth = 742.217865; finalDepth = 701.469748; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 701.469748 # Seafloor depth: -751.469748 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 109.599914 meters # Minimum depth: 792.217865 meters looking forward 100.000000 meters along route # Maximum depth: 799.564321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.217865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351844; longitude = -118.142393; captureRadius = 10; duration = 219; initialDepth = 739.394539; finalDepth = 742.217865; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 742.217865 # Seafloor depth: -792.217865 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 119.163115 meters # Minimum depth: 789.394539 meters looking forward 100.000000 meters along route # Maximum depth: 793.224864 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.394539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352249; longitude = -118.141319; captureRadius = 10; duration = 238; initialDepth = 739.124751; finalDepth = 739.394539; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.522081 # Actual altitude: 53.522081 # Commanded vehicle depth: 739.394539 # Seafloor depth: -792.916620 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 214.09; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 100.035361 meters # Minimum depth: 789.124751 meters looking forward 100.000000 meters along route # Maximum depth: 791.152021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.124751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352691; longitude = -118.140151; captureRadius = 10; duration = 200; initialDepth = 740.254084; finalDepth = 739.124751; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.522081 # Actual altitude: 53.522081 # Commanded vehicle depth: 739.124751 # Seafloor depth: -789.124751 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 214.09; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 117.516517 meters # Minimum depth: 790.254084 meters looking forward 100.000000 meters along route # Maximum depth: 791.798057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.254084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353061; longitude = -118.139171; captureRadius = 10; duration = 235; initialDepth = 741.102561; finalDepth = 740.254084; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4970169999999 # Actual altitude: 50.4970169999999 # Commanded vehicle depth: 740.254084 # Seafloor depth: -790.751101 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.99; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 201.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 101.680159 meters # Minimum depth: 791.102561 meters looking forward 100.000000 meters along route # Maximum depth: 792.063927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.102561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353496; longitude = -118.138020; captureRadius = 10; duration = 203; initialDepth = 738.055703; finalDepth = 741.102561; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4970169999999 # Actual altitude: 50.4970169999999 # Commanded vehicle depth: 741.102561 # Seafloor depth: -791.102561 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.99; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 201.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 115.869943 meters # Minimum depth: 788.055703 meters looking forward 100.000000 meters along route # Maximum depth: 791.056410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.055703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353873; longitude = -118.137023; captureRadius = 10; duration = 231; initialDepth = 737.061411; finalDepth = 738.055703; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.000707 # Actual altitude: 53.000707 # Commanded vehicle depth: 738.055703 # Seafloor depth: -791.056410 # behavior reson { duration = RESON_DURATION; 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 41 # Segment length 103.324930 meters # Minimum depth: 787.061411 meters looking forward 100.000000 meters along route # Maximum depth: 787.802461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.061411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354302; longitude = -118.135888; captureRadius = 10; duration = 206; initialDepth = 738.670541; finalDepth = 737.061411; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.000707 # Actual altitude: 53.000707 # Commanded vehicle depth: 737.061411 # Seafloor depth: -787.802461 # behavior reson { duration = RESON_DURATION; 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 41 # Segment length 114.223399 meters # Minimum depth: 788.670541 meters looking forward 100.000000 meters along route # Maximum depth: 798.298293 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.670541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354684; longitude = -118.134875; captureRadius = 10; duration = 228; initialDepth = 741.662699; finalDepth = 738.670541; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.74105 # Actual altitude: 50.74105 # Commanded vehicle depth: 738.670541 # Seafloor depth: -788.670541 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.96; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 104.969674 meters # Minimum depth: 791.662699 meters looking forward 100.000000 meters along route # Maximum depth: 797.816360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.662699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355107; longitude = -118.133756; captureRadius = 10; duration = 209; initialDepth = 737.472826; finalDepth = 741.662699; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1536610000001 # Actual altitude: 56.1536610000001 # Commanded vehicle depth: 741.662699 # Seafloor depth: -797.816360 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 224.61; 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 = 224.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 112.576880 meters # Minimum depth: 787.472826 meters looking forward 100.000000 meters along route # Maximum depth: 790.622519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.472826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355496; longitude = -118.132727; captureRadius = 10; duration = 225; initialDepth = 735.462607; finalDepth = 737.472826; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1536610000001 # Actual altitude: 56.1536610000001 # Commanded vehicle depth: 737.472826 # Seafloor depth: -790.622519 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 224.61; 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 = 224.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 106.614392 meters # Minimum depth: 785.462607 meters looking forward 100.000000 meters along route # Maximum depth: 787.399159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.462607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355913; longitude = -118.131624; captureRadius = 10; duration = 213; initialDepth = 732.204596; finalDepth = 735.462607; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.149693 # Actual altitude: 53.149693 # Commanded vehicle depth: 735.462607 # Seafloor depth: -787.399159 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 212.60; 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 = 212.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 110.930389 meters # Minimum depth: 782.204596 meters looking forward 100.000000 meters along route # Maximum depth: 784.796003 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.204596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356307; longitude = -118.130579; captureRadius = 10; duration = 221; initialDepth = 730.311992; finalDepth = 732.204596; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.591407 # Actual altitude: 52.591407 # Commanded vehicle depth: 732.204596 # Seafloor depth: -784.796003 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 210.37; 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 = 210.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 108.259082 meters # Minimum depth: 780.311992 meters looking forward 100.000000 meters along route # Maximum depth: 782.174412 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 730.311992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356718; longitude = -118.129492; captureRadius = 10; duration = 216; initialDepth = 727.249344; finalDepth = 730.311992; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.591407 # Actual altitude: 52.591407 # Commanded vehicle depth: 730.311992 # Seafloor depth: -782.174412 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 210.37; 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 = 210.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 109.594061 meters # Minimum depth: 777.249344 meters looking forward 100.000000 meters along route # Maximum depth: 779.694455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 727.249344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357119; longitude = -118.128432; captureRadius = 10; duration = 219; initialDepth = 725.450149; finalDepth = 727.249344; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.445111 # Actual altitude: 52.445111 # Commanded vehicle depth: 727.249344 # Seafloor depth: -779.694455 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.78; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.98; MB_Bottom_Detect_Filter_Max_Range = 209.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 109.593610 meters # Minimum depth: 775.450149 meters looking forward 100.000000 meters along route # Maximum depth: 777.242443 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.450149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357525; longitude = -118.127358; captureRadius = 10; duration = 219; initialDepth = 722.526072; finalDepth = 725.450149; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.445111 # Actual altitude: 52.445111 # Commanded vehicle depth: 725.450149 # Seafloor depth: -777.242443 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.78; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.98; MB_Bottom_Detect_Filter_Max_Range = 209.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 117.106907 meters # Minimum depth: 772.526072 meters looking forward 100.000000 meters along route # Maximum depth: 774.859865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.526072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357930; longitude = -118.126284; captureRadius = 10; duration = 234; initialDepth = 722.000000; finalDepth = 722.526072; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.333793 # Actual altitude: 52.333793 # Commanded vehicle depth: 722.526072 # Seafloor depth: -774.859865 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 209.34; 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 = 209.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 150.054116 meters # Minimum depth: 772.000000 meters looking forward 100.000000 meters along route # Maximum depth: 775.248629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358364; longitude = -118.125136; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 725.658691; finalDepth = 722.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 52.333793 # Actual altitude: 52.333793 # Commanded vehicle depth: 722 # Seafloor depth: -772.000000 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 209.34; 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 = 209.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 129.866191 meters # Minimum depth: 775.658691 meters looking forward 100.000000 meters along route # Maximum depth: 777.902276 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.658691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357130; longitude = -118.124474; captureRadius = 10; duration = 259; # abortOnTimeout = True; initialDepth = 728.302113; finalDepth = 725.658691; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 725.658691 # Seafloor depth: -775.658691 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.594928 meters # Minimum depth: 778.302113 meters looking forward 100.000000 meters along route # Maximum depth: 780.054211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.302113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356649; longitude = -118.125747; captureRadius = 10; duration = 219; initialDepth = 730.642860; finalDepth = 728.302113; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 728.302113 # Seafloor depth: -778.302113 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 109.595378 meters # Minimum depth: 780.642860 meters looking forward 100.000000 meters along route # Maximum depth: 782.585409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 730.642860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356243; longitude = -118.126821; captureRadius = 10; duration = 219; initialDepth = 733.031439; finalDepth = 730.642860; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 730.64286 # Seafloor depth: -780.642860 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 109.595828 meters # Minimum depth: 783.031439 meters looking forward 100.000000 meters along route # Maximum depth: 784.849242 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 733.031439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355838; longitude = -118.127895; captureRadius = 10; duration = 219; initialDepth = 735.463036; finalDepth = 733.031439; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 733.031439 # Seafloor depth: -783.031439 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 109.596278 meters # Minimum depth: 785.463036 meters looking forward 100.000000 meters along route # Maximum depth: 787.403148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.463036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355432; longitude = -118.128968; captureRadius = 10; duration = 219; initialDepth = 737.895361; finalDepth = 735.463036; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 735.463036 # Seafloor depth: -785.463036 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 109.596729 meters # Minimum depth: 787.895361 meters looking forward 100.000000 meters along route # Maximum depth: 789.619683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.895361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355026; longitude = -118.130042; captureRadius = 10; duration = 219; initialDepth = 740.118362; finalDepth = 737.895361; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 737.895361 # Seafloor depth: -787.895361 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 109.597178 meters # Minimum depth: 790.118362 meters looking forward 100.000000 meters along route # Maximum depth: 791.088950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.118362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354620; longitude = -118.131116; captureRadius = 10; duration = 219; initialDepth = 741.128646; finalDepth = 740.118362; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 740.118362 # Seafloor depth: -790.118362 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 109.597629 meters # Minimum depth: 791.128646 meters looking forward 100.000000 meters along route # Maximum depth: 791.609898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.128646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354214; longitude = -118.132190; captureRadius = 10; duration = 219; initialDepth = 741.197340; finalDepth = 741.128646; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 741.128646 # Seafloor depth: -791.128646 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 109.598079 meters # Minimum depth: 791.197340 meters looking forward 100.000000 meters along route # Maximum depth: 793.601899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.197340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353809; longitude = -118.133264; captureRadius = 10; duration = 219; initialDepth = 739.628519; finalDepth = 741.197340; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 741.19734 # Seafloor depth: -791.197340 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 109.598529 meters # Minimum depth: 789.628519 meters looking forward 100.000000 meters along route # Maximum depth: 792.619319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.628519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353403; longitude = -118.134338; captureRadius = 10; duration = 219; initialDepth = 738.160867; finalDepth = 739.628519; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9908 # Actual altitude: 52.9908 # Commanded vehicle depth: 739.628519 # Seafloor depth: -792.619319 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 211.96; 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 = 211.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 109.598979 meters # Minimum depth: 788.160867 meters looking forward 100.000000 meters along route # Maximum depth: 789.817314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.160867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352997; longitude = -118.135412; captureRadius = 10; duration = 219; initialDepth = 736.687774; finalDepth = 738.160867; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9908 # Actual altitude: 52.9908 # Commanded vehicle depth: 738.160867 # Seafloor depth: -789.689955 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 211.96; 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 = 211.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 118.214785 meters # Minimum depth: 786.687774 meters looking forward 100.000000 meters along route # Maximum depth: 787.392181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.687774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352591; longitude = -118.136486; captureRadius = 10; duration = 236; initialDepth = 736.084808; finalDepth = 736.687774; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.529088 # Actual altitude: 51.529088 # Commanded vehicle depth: 736.687774 # Seafloor depth: -787.038496 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.12; 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 = 206.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 100.984525 meters # Minimum depth: 786.084808 meters looking forward 100.000000 meters along route # Maximum depth: 786.721773 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.084808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352154; longitude = -118.137645; captureRadius = 10; duration = 201; initialDepth = 736.563317; finalDepth = 736.084808; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.636965 # Actual altitude: 50.636965 # Commanded vehicle depth: 736.084808 # Seafloor depth: -786.721773 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.55; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 116.570101 meters # Minimum depth: 786.563317 meters looking forward 100.000000 meters along route # Maximum depth: 788.770755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.563317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351780; longitude = -118.138634; captureRadius = 10; duration = 233; initialDepth = 738.898920; finalDepth = 736.563317; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.636965 # Actual altitude: 50.636965 # Commanded vehicle depth: 736.563317 # Seafloor depth: -786.563317 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.55; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 102.631011 meters # Minimum depth: 788.898920 meters looking forward 100.000000 meters along route # Maximum depth: 792.657857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.898920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351348; longitude = -118.139776; captureRadius = 10; duration = 205; initialDepth = 745.446507; finalDepth = 738.898920; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 738.89892 # Seafloor depth: -788.898920 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 114.925391 meters # Minimum depth: 795.446507 meters looking forward 100.000000 meters along route # Maximum depth: 802.152751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.446507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350968; longitude = -118.140782; captureRadius = 10; duration = 229; initialDepth = 726.311228; finalDepth = 745.446507; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 745.446507 # Seafloor depth: -795.446507 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 104.277521 meters # Minimum depth: 776.311228 meters looking forward 100.000000 meters along route # Maximum depth: 799.390972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.311228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350543; longitude = -118.141908; captureRadius = 10; duration = 208; initialDepth = 679.913923; finalDepth = 726.311228; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.079744 # Actual altitude: 73.079744 # Commanded vehicle depth: 726.311228 # Seafloor depth: -799.390972 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 292.32; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.23; MB_Bottom_Detect_Filter_Max_Range = 292.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 113.280655 meters # Minimum depth: 729.913923 meters looking forward 100.000000 meters along route # Maximum depth: 760.422806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.913923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350157; longitude = -118.142930; captureRadius = 10; duration = 226; initialDepth = 679.928601; finalDepth = 679.913923; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.5088830000001 # Actual altitude: 80.5088830000001 # Commanded vehicle depth: 679.913923 # Seafloor depth: -760.422806 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 322.04; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.20; MB_Bottom_Detect_Filter_Max_Range = 322.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 105.924060 meters # Minimum depth: 729.928601 meters looking forward 100.000000 meters along route # Maximum depth: 730.548171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.928601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349737; longitude = -118.144040; captureRadius = 10; duration = 211; initialDepth = 679.230831; finalDepth = 679.928601; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.5088830000001 # Actual altitude: 80.5088830000001 # Commanded vehicle depth: 679.928601 # Seafloor depth: -729.928601 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 322.04; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.20; MB_Bottom_Detect_Filter_Max_Range = 322.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 111.635891 meters # Minimum depth: 729.230831 meters looking forward 100.000000 meters along route # Maximum depth: 735.876607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.230831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349345; longitude = -118.145078; captureRadius = 10; duration = 223; initialDepth = 684.451525; finalDepth = 679.230831; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 679.230831 # Seafloor depth: -729.230831 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 107.570626 meters # Minimum depth: 734.451525 meters looking forward 100.000000 meters along route # Maximum depth: 735.705454 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.451525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348932; longitude = -118.146172; captureRadius = 10; duration = 215; initialDepth = 684.646527; finalDepth = 684.451525; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8664930000001 # Actual altitude: 50.8664930000001 # Commanded vehicle depth: 684.451525 # Seafloor depth: -735.318018 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 106.565038 meters # Minimum depth: 734.646527 meters looking forward 100.000000 meters along route # Maximum depth: 738.776177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.646527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348534; longitude = -118.147226; captureRadius = 10; duration = 213; initialDepth = 688.375770; finalDepth = 684.646527; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.8664930000001 # Actual altitude: 50.8664930000001 # Commanded vehicle depth: 684.646527 # Seafloor depth: -734.646527 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 203.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 149.956615 meters # Minimum depth: 738.375770 meters looking forward 100.000000 meters along route # Maximum depth: 739.600637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.375770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348139; longitude = -118.148270; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 687.458027; finalDepth = 688.375770; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50.821114 # Actual altitude: 50.821114 # Commanded vehicle depth: 688.37577 # Seafloor depth: -739.196884 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 203.28; 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 = 203.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 121.209233 meters # Minimum depth: 737.458027 meters looking forward 100.000000 meters along route # Maximum depth: 738.376038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.458027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346906; longitude = -118.147608; captureRadius = 10; duration = 242; # abortOnTimeout = True; initialDepth = 684.326600; finalDepth = 687.458027; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.918011 # Actual altitude: 50.918011 # Commanded vehicle depth: 687.458027 # Seafloor depth: -738.376038 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.67; 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 = 203.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.605464 meters # Minimum depth: 734.326600 meters looking forward 100.000000 meters along route # Maximum depth: 737.806583 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.326600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347355; longitude = -118.146420; captureRadius = 10; duration = 219; initialDepth = 681.425980; finalDepth = 684.326600; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4799830000001 # Actual altitude: 53.4799830000001 # Commanded vehicle depth: 684.3266 # Seafloor depth: -737.806583 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 213.92; 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 = 213.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 109.605012 meters # Minimum depth: 731.425980 meters looking forward 100.000000 meters along route # Maximum depth: 733.447855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.425980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347761; longitude = -118.145346; captureRadius = 10; duration = 219; initialDepth = 679.984494; finalDepth = 681.425980; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4799830000001 # Actual altitude: 53.4799830000001 # Commanded vehicle depth: 681.42598 # Seafloor depth: -733.447855 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 213.92; 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 = 213.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 109.604562 meters # Minimum depth: 729.984494 meters looking forward 100.000000 meters along route # Maximum depth: 731.878610 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.984494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348166; longitude = -118.144272; captureRadius = 10; duration = 219; initialDepth = 682.076985; finalDepth = 679.984494; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.021875 # Actual altitude: 52.021875 # Commanded vehicle depth: 679.984494 # Seafloor depth: -731.233755 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.09; 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 = 208.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 109.604112 meters # Minimum depth: 732.076985 meters looking forward 100.000000 meters along route # Maximum depth: 764.257863 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.076985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348572; longitude = -118.143198; captureRadius = 10; duration = 219; initialDepth = 720.024931; finalDepth = 682.076985; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2492609999999 # Actual altitude: 51.2492609999999 # Commanded vehicle depth: 682.076985 # Seafloor depth: -732.383807 # behavior reson { duration = RESON_DURATION; 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 37 # Segment length 109.603661 meters # Minimum depth: 770.024931 meters looking forward 100.000000 meters along route # Maximum depth: 801.546842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.024931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348978; longitude = -118.142125; captureRadius = 10; duration = 219; initialDepth = 742.576064; finalDepth = 720.024931; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.306822 # Actual altitude: 50.306822 # Commanded vehicle depth: 720.024931 # Seafloor depth: -770.024931 # behavior reson { duration = RESON_DURATION; 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 37 # Segment length 109.603211 meters # Minimum depth: 792.576064 meters looking forward 100.000000 meters along route # Maximum depth: 803.691711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.576064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349384; longitude = -118.141051; captureRadius = 10; duration = 219; initialDepth = 738.458731; finalDepth = 742.576064; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.1156470000001 # Actual altitude: 61.1156470000001 # Commanded vehicle depth: 742.576064 # Seafloor depth: -803.691711 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 244.46; 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 = 244.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 244.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 109.602761 meters # Minimum depth: 788.458731 meters looking forward 100.000000 meters along route # Maximum depth: 791.322757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.458731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349790; longitude = -118.139977; captureRadius = 10; duration = 219; initialDepth = 737.434837; finalDepth = 738.458731; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.1156470000001 # Actual altitude: 61.1156470000001 # Commanded vehicle depth: 738.458731 # Seafloor depth: -791.322757 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 244.46; 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 = 244.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 244.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 109.602310 meters # Minimum depth: 787.434837 meters looking forward 100.000000 meters along route # Maximum depth: 788.600274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.434837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350195; longitude = -118.138903; captureRadius = 10; duration = 219; initialDepth = 735.764126; finalDepth = 737.434837; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8640260000001 # Actual altitude: 52.8640260000001 # Commanded vehicle depth: 737.434837 # Seafloor depth: -788.006206 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 211.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.15; MB_Bottom_Detect_Filter_Max_Range = 211.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 109.601860 meters # Minimum depth: 785.764126 meters looking forward 100.000000 meters along route # Maximum depth: 786.933097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.764126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350601; longitude = -118.137829; captureRadius = 10; duration = 219; initialDepth = 736.828568; finalDepth = 735.764126; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1689709999999 # Actual altitude: 51.1689709999999 # Commanded vehicle depth: 735.764126 # Seafloor depth: -786.933097 # behavior reson { duration = RESON_DURATION; 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 37 # Segment length 109.601409 meters # Minimum depth: 786.828568 meters looking forward 100.000000 meters along route # Maximum depth: 787.541287 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.828568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351007; longitude = -118.136755; captureRadius = 10; duration = 219; initialDepth = 736.629951; finalDepth = 736.828568; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1689709999999 # Actual altitude: 51.1689709999999 # Commanded vehicle depth: 736.828568 # Seafloor depth: -786.828568 # behavior reson { duration = RESON_DURATION; 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 37 # Segment length 109.600960 meters # Minimum depth: 786.629951 meters looking forward 100.000000 meters along route # Maximum depth: 787.954255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.629951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351413; longitude = -118.135681; captureRadius = 10; duration = 219; initialDepth = 738.226685; finalDepth = 736.629951; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 736.629951 # Seafloor depth: -786.629951 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 109.600509 meters # Minimum depth: 788.226685 meters looking forward 100.000000 meters along route # Maximum depth: 790.603602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.226685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351819; longitude = -118.134607; captureRadius = 10; duration = 219; initialDepth = 741.484306; finalDepth = 738.226685; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.007572 # Actual altitude: 50.007572 # Commanded vehicle depth: 738.226685 # Seafloor depth: -788.234257 # behavior reson { duration = RESON_DURATION; 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 37 # Segment length 109.600058 meters # Minimum depth: 791.484306 meters looking forward 100.000000 meters along route # Maximum depth: 793.519035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.484306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352224; longitude = -118.133533; captureRadius = 10; duration = 219; initialDepth = 744.225222; finalDepth = 741.484306; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.007572 # Actual altitude: 50.007572 # Commanded vehicle depth: 741.484306 # Seafloor depth: -791.484306 # behavior reson { duration = RESON_DURATION; 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 37 # Segment length 109.599609 meters # Minimum depth: 794.225222 meters looking forward 100.000000 meters along route # Maximum depth: 798.055867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.225222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352630; longitude = -118.132459; captureRadius = 10; duration = 219; initialDepth = 743.922629; finalDepth = 744.225222; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 744.225222 # Seafloor depth: -794.225222 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 109.599158 meters # Minimum depth: 793.922629 meters looking forward 100.000000 meters along route # Maximum depth: 796.366342 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.922629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353036; longitude = -118.131385; captureRadius = 10; duration = 219; initialDepth = 740.995664; finalDepth = 743.922629; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.443713 # Actual altitude: 52.443713 # Commanded vehicle depth: 743.922629 # Seafloor depth: -796.366342 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.77; 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 = 209.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 109.598709 meters # Minimum depth: 790.995664 meters looking forward 100.000000 meters along route # Maximum depth: 793.175446 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.995664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353442; longitude = -118.130311; captureRadius = 10; duration = 219; initialDepth = 738.630919; finalDepth = 740.995664; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.443713 # Actual altitude: 52.443713 # Commanded vehicle depth: 740.995664 # Seafloor depth: -793.175446 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.77; 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 = 209.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 109.598258 meters # Minimum depth: 788.630919 meters looking forward 100.000000 meters along route # Maximum depth: 790.478338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.630919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353848; longitude = -118.129237; captureRadius = 10; duration = 219; initialDepth = 736.193914; finalDepth = 738.630919; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1797819999999 # Actual altitude: 52.1797819999999 # Commanded vehicle depth: 738.630919 # Seafloor depth: -790.478338 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.72; 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 = 208.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 109.597808 meters # Minimum depth: 786.193914 meters looking forward 100.000000 meters along route # Maximum depth: 788.035993 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.193914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354253; longitude = -118.128163; captureRadius = 10; duration = 219; initialDepth = 733.947482; finalDepth = 736.193914; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8474190000001 # Actual altitude: 51.8474190000001 # Commanded vehicle depth: 736.193914 # Seafloor depth: -788.035993 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.39; 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 = 207.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 109.597357 meters # Minimum depth: 783.947482 meters looking forward 100.000000 meters along route # Maximum depth: 785.682295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 733.947482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354659; longitude = -118.127089; captureRadius = 10; duration = 219; initialDepth = 731.614085; finalDepth = 733.947482; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.842079 # Actual altitude: 51.842079 # Commanded vehicle depth: 733.947482 # Seafloor depth: -785.682295 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.37; 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 = 207.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 109.596908 meters # Minimum depth: 781.614085 meters looking forward 100.000000 meters along route # Maximum depth: 783.376986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.614085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355065; longitude = -118.126015; captureRadius = 10; duration = 219; initialDepth = 728.785630; finalDepth = 731.614085; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7629009999999 # Actual altitude: 51.7629009999999 # Commanded vehicle depth: 731.614085 # Seafloor depth: -783.376986 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.05; 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 = 207.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 115.125552 meters # Minimum depth: 778.785630 meters looking forward 100.000000 meters along route # Maximum depth: 781.072723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.785630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355471; longitude = -118.124941; captureRadius = 10; duration = 230; initialDepth = 728.949219; finalDepth = 728.785630; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.287093 # Actual altitude: 52.287093 # Commanded vehicle depth: 728.78563 # Seafloor depth: -781.072723 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 209.15; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.15; 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 36 # Segment length 150.054733 meters # Minimum depth: 778.949219 meters looking forward 100.000000 meters along route # Maximum depth: 781.266837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.949219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355897; longitude = -118.123813; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 731.614746; finalDepth = 728.949219; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 52.287093 # Actual altitude: 52.287093 # Commanded vehicle depth: 728.949219 # Seafloor depth: -778.949219 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 209.15; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 127.884291 meters # Minimum depth: 781.614746 meters looking forward 100.000000 meters along route # Maximum depth: 783.783432 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.614746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354663; longitude = -118.123151; captureRadius = 10; duration = 255; # abortOnTimeout = True; initialDepth = 734.353314; finalDepth = 731.614746; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 731.614746 # Seafloor depth: -781.614746 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 114.761889 meters # Minimum depth: 784.353314 meters looking forward 100.000000 meters along route # Maximum depth: 786.638839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.353314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354190; longitude = -118.124404; captureRadius = 10; duration = 229; initialDepth = 736.745748; finalDepth = 734.353314; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 734.353314 # Seafloor depth: -784.353314 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 104.433459 meters # Minimum depth: 786.745748 meters looking forward 100.000000 meters along route # Maximum depth: 788.335775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.745748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353765; longitude = -118.125529; captureRadius = 10; duration = 208; initialDepth = 738.886586; finalDepth = 736.745748; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 736.745748 # Seafloor depth: -786.745748 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 113.117207 meters # Minimum depth: 788.886586 meters looking forward 100.000000 meters along route # Maximum depth: 791.084606 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.886586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353378; longitude = -118.126552; captureRadius = 10; duration = 226; initialDepth = 741.154455; finalDepth = 738.886586; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 738.886586 # Seafloor depth: -788.886586 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 106.079941 meters # Minimum depth: 791.154455 meters looking forward 100.000000 meters along route # Maximum depth: 792.727353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.154455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352959; longitude = -118.127661; captureRadius = 10; duration = 212; initialDepth = 743.296528; finalDepth = 741.154455; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 741.154455 # Seafloor depth: -791.154455 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 111.472498 meters # Minimum depth: 793.296528 meters looking forward 100.000000 meters along route # Maximum depth: 795.828917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.296528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352566; longitude = -118.128700; captureRadius = 10; duration = 222; initialDepth = 745.881939; finalDepth = 743.296528; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 743.296528 # Seafloor depth: -793.296528 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 107.726451 meters # Minimum depth: 795.881939 meters looking forward 100.000000 meters along route # Maximum depth: 797.590359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.881939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352154; longitude = -118.129792; captureRadius = 10; duration = 215; initialDepth = 747.965304; finalDepth = 745.881939; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 745.881939 # Seafloor depth: -795.881939 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 109.827762 meters # Minimum depth: 797.965304 meters looking forward 100.000000 meters along route # Maximum depth: 800.482922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.965304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351755; longitude = -118.130848; captureRadius = 10; duration = 219; initialDepth = 746.926997; finalDepth = 747.965304; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 747.965304 # Seafloor depth: -797.965304 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 109.372987 meters # Minimum depth: 796.926997 meters looking forward 100.000000 meters along route # Maximum depth: 800.478382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 746.926997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351348; longitude = -118.131924; captureRadius = 10; duration = 218; initialDepth = 743.430347; finalDepth = 746.926997; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.551385 # Actual altitude: 53.551385 # Commanded vehicle depth: 746.926997 # Seafloor depth: -800.478382 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 214.21; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.42; MB_Bottom_Detect_Filter_Max_Range = 214.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 109.601050 meters # Minimum depth: 793.430347 meters looking forward 100.000000 meters along route # Maximum depth: 796.914592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.430347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350943; longitude = -118.132996; captureRadius = 10; duration = 219; initialDepth = 742.836127; finalDepth = 743.430347; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.551385 # Actual altitude: 53.551385 # Commanded vehicle depth: 743.430347 # Seafloor depth: -796.914592 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 214.21; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.42; MB_Bottom_Detect_Filter_Max_Range = 214.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 109.601500 meters # Minimum depth: 792.836127 meters looking forward 100.000000 meters along route # Maximum depth: 793.881509 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.836127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350537; longitude = -118.134070; captureRadius = 10; duration = 219; initialDepth = 740.748928; finalDepth = 742.836127; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.484245 # Actual altitude: 53.484245 # Commanded vehicle depth: 742.836127 # Seafloor depth: -793.403919 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 213.94; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.39; MB_Bottom_Detect_Filter_Max_Range = 213.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 109.601951 meters # Minimum depth: 790.748928 meters looking forward 100.000000 meters along route # Maximum depth: 792.604488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.748928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350132; longitude = -118.135144; captureRadius = 10; duration = 219; initialDepth = 740.131384; finalDepth = 740.748928; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.85556 # Actual altitude: 51.85556 # Commanded vehicle depth: 740.748928 # Seafloor depth: -792.604488 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.42; 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 = 207.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 109.602400 meters # Minimum depth: 790.131384 meters looking forward 100.000000 meters along route # Maximum depth: 790.720192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.131384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349726; longitude = -118.136218; captureRadius = 10; duration = 219; initialDepth = 738.183626; finalDepth = 740.131384; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.85556 # Actual altitude: 51.85556 # Commanded vehicle depth: 740.131384 # Seafloor depth: -790.720192 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.42; 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 = 207.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 109.602851 meters # Minimum depth: 788.183626 meters looking forward 100.000000 meters along route # Maximum depth: 789.777116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.183626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349320; longitude = -118.137292; captureRadius = 10; duration = 219; initialDepth = 739.640464; finalDepth = 738.183626; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.59349 # Actual altitude: 51.59349 # Commanded vehicle depth: 738.183626 # Seafloor depth: -789.777116 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.37; 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 = 206.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 109.603301 meters # Minimum depth: 789.640464 meters looking forward 100.000000 meters along route # Maximum depth: 791.674252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.640464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348914; longitude = -118.138366; captureRadius = 10; duration = 219; initialDepth = 742.791390; finalDepth = 739.640464; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.59349 # Actual altitude: 51.59349 # Commanded vehicle depth: 739.640464 # Seafloor depth: -789.640464 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.37; 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 = 206.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 109.603752 meters # Minimum depth: 792.791390 meters looking forward 100.000000 meters along route # Maximum depth: 800.178635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.791390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348509; longitude = -118.139440; captureRadius = 10; duration = 219; initialDepth = 729.248882; finalDepth = 742.791390; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 742.79139 # Seafloor depth: -792.791390 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 109.604202 meters # Minimum depth: 779.248882 meters looking forward 100.000000 meters along route # Maximum depth: 800.399892 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.248882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348103; longitude = -118.140514; captureRadius = 10; duration = 219; initialDepth = 684.047291; finalDepth = 729.248882; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.15101 # Actual altitude: 71.15101 # Commanded vehicle depth: 729.248882 # Seafloor depth: -800.399892 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 284.60; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.46; MB_Bottom_Detect_Filter_Max_Range = 284.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 109.604652 meters # Minimum depth: 734.047291 meters looking forward 100.000000 meters along route # Maximum depth: 765.014040 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.047291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347697; longitude = -118.141588; captureRadius = 10; duration = 219; initialDepth = 681.084201; finalDepth = 684.047291; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.966749 # Actual altitude: 80.966749 # Commanded vehicle depth: 684.047291 # Seafloor depth: -765.014040 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 323.87; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.39; MB_Bottom_Detect_Filter_Max_Range = 323.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 109.605103 meters # Minimum depth: 731.084201 meters looking forward 100.000000 meters along route # Maximum depth: 735.476332 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.084201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347291; longitude = -118.142661; captureRadius = 10; duration = 219; initialDepth = 679.030925; finalDepth = 681.084201; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.966749 # Actual altitude: 80.966749 # Commanded vehicle depth: 681.084201 # Seafloor depth: -735.476332 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 323.87; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.39; MB_Bottom_Detect_Filter_Max_Range = 323.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 109.605553 meters # Minimum depth: 729.030925 meters looking forward 100.000000 meters along route # Maximum depth: 735.831308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.030925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346885; longitude = -118.143735; captureRadius = 10; duration = 219; initialDepth = 686.523290; finalDepth = 679.030925; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3921309999999 # Actual altitude: 54.3921309999999 # Commanded vehicle depth: 679.030925 # Seafloor depth: -729.986651 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 217.57; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.76; MB_Bottom_Detect_Filter_Max_Range = 217.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 109.606003 meters # Minimum depth: 736.523290 meters looking forward 100.000000 meters along route # Maximum depth: 738.536975 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.523290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346480; longitude = -118.144809; captureRadius = 10; duration = 219; initialDepth = 688.787242; finalDepth = 686.523290; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.955726 # Actual altitude: 50.955726 # Commanded vehicle depth: 686.52329 # Seafloor depth: -736.632722 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.82; 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 = 203.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 108.552558 meters # Minimum depth: 738.787242 meters looking forward 100.000000 meters along route # Maximum depth: 740.359321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.787242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346074; longitude = -118.145883; captureRadius = 10; duration = 217; initialDepth = 691.045959; finalDepth = 688.787242; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.109432 # Actual altitude: 50.109432 # Commanded vehicle depth: 688.787242 # Seafloor depth: -738.787242 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 200.44; 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 = 200.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 149.957231 meters # Minimum depth: 741.045959 meters looking forward 100.000000 meters along route # Maximum depth: 742.293623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.045959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345672; longitude = -118.146947; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 687.822161; finalDepth = 691.045959; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # 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: 691.045959 # Seafloor depth: -741.045959 # behavior reson { duration = RESON_DURATION; 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 33 # Segment length 125.721017 meters # Minimum depth: 737.822161 meters looking forward 100.000000 meters along route # Maximum depth: 742.587845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.822161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344439; longitude = -118.146285; captureRadius = 10; duration = 251; # abortOnTimeout = True; initialDepth = 685.362956; finalDepth = 687.822161; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.765684 # Actual altitude: 54.765684 # Commanded vehicle depth: 687.822161 # Seafloor depth: -742.587845 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 219.06; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.91; MB_Bottom_Detect_Filter_Max_Range = 219.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 107.082443 meters # Minimum depth: 735.362956 meters looking forward 100.000000 meters along route # Maximum depth: 737.690749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.362956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344904; longitude = -118.145053; captureRadius = 10; duration = 214; initialDepth = 682.612084; finalDepth = 685.362956; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.765684 # Actual altitude: 54.765684 # Commanded vehicle depth: 685.362956 # Seafloor depth: -737.690749 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 219.06; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.91; MB_Bottom_Detect_Filter_Max_Range = 219.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 110.485756 meters # Minimum depth: 732.612084 meters looking forward 100.000000 meters along route # Maximum depth: 738.076005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.612084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345301; longitude = -118.144004; captureRadius = 10; duration = 220; initialDepth = 681.376957; finalDepth = 682.612084; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.712546 # Actual altitude: 52.712546 # Commanded vehicle depth: 682.612084 # Seafloor depth: -735.324630 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 210.85; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.09; MB_Bottom_Detect_Filter_Max_Range = 210.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 108.727306 meters # Minimum depth: 731.376957 meters looking forward 100.000000 meters along route # Maximum depth: 733.338356 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.376957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345710; longitude = -118.142921; captureRadius = 10; duration = 217; initialDepth = 683.754801; finalDepth = 681.376957; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.712546 # Actual altitude: 52.712546 # Commanded vehicle depth: 681.376957 # Seafloor depth: -732.521369 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 210.85; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.09; MB_Bottom_Detect_Filter_Max_Range = 210.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 109.605856 meters # Minimum depth: 733.754801 meters looking forward 100.000000 meters along route # Maximum depth: 768.877947 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.754801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346112; longitude = -118.141856; captureRadius = 10; duration = 219; initialDepth = 719.347064; finalDepth = 683.754801; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1444120000001 # Actual altitude: 51.1444120000001 # Commanded vehicle depth: 683.754801 # Seafloor depth: -733.754801 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.58; 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 = 204.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 109.605405 meters # Minimum depth: 769.347064 meters looking forward 100.000000 meters along route # Maximum depth: 802.044435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.347064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346518; longitude = -118.140782; captureRadius = 10; duration = 219; initialDepth = 742.759773; finalDepth = 719.347064; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 719.347064 # Seafloor depth: -769.347064 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 109.604956 meters # Minimum depth: 792.759773 meters looking forward 100.000000 meters along route # Maximum depth: 802.320038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.759773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346924; longitude = -118.139708; captureRadius = 10; duration = 219; initialDepth = 741.629573; finalDepth = 742.759773; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.560265 # Actual altitude: 59.560265 # Commanded vehicle depth: 742.759773 # Seafloor depth: -802.320038 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 238.24; 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 = 238.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 109.604504 meters # Minimum depth: 791.629573 meters looking forward 100.000000 meters along route # Maximum depth: 792.517531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.629573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347330; longitude = -118.138634; captureRadius = 10; duration = 219; initialDepth = 741.436474; finalDepth = 741.629573; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.560265 # Actual altitude: 59.560265 # Commanded vehicle depth: 741.629573 # Seafloor depth: -792.517531 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 238.24; 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 = 238.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 109.604055 meters # Minimum depth: 791.436474 meters looking forward 100.000000 meters along route # Maximum depth: 792.616270 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.436474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347736; longitude = -118.137560; captureRadius = 10; duration = 219; initialDepth = 740.376897; finalDepth = 741.436474; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8879579999999 # Actual altitude: 50.8879579999999 # Commanded vehicle depth: 741.436474 # Seafloor depth: -791.765416 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.55; 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 = 203.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 109.603604 meters # Minimum depth: 790.376897 meters looking forward 100.000000 meters along route # Maximum depth: 792.696752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.376897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348141; longitude = -118.136486; captureRadius = 10; duration = 219; initialDepth = 740.389896; finalDepth = 740.376897; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.319855 # Actual altitude: 52.319855 # Commanded vehicle depth: 740.376897 # Seafloor depth: -792.696752 # behavior reson { duration = RESON_DURATION; 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 33 # Segment length 109.603154 meters # Minimum depth: 790.389896 meters looking forward 100.000000 meters along route # Maximum depth: 792.215739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.389896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348547; longitude = -118.135412; captureRadius = 10; duration = 219; initialDepth = 740.930943; finalDepth = 740.389896; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.319855 # Actual altitude: 52.319855 # Commanded vehicle depth: 740.389896 # Seafloor depth: -790.389896 # behavior reson { duration = RESON_DURATION; 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 33 # Segment length 109.602704 meters # Minimum depth: 790.930943 meters looking forward 100.000000 meters along route # Maximum depth: 792.321734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.930943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348953; longitude = -118.134338; captureRadius = 10; duration = 219; initialDepth = 738.769173; finalDepth = 740.930943; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.390791 # Actual altitude: 51.390791 # Commanded vehicle depth: 740.930943 # Seafloor depth: -792.321734 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.56; 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 = 205.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 109.602253 meters # Minimum depth: 788.769173 meters looking forward 100.000000 meters along route # Maximum depth: 791.192107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.769173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349359; longitude = -118.133264; captureRadius = 10; duration = 219; initialDepth = 739.890174; finalDepth = 738.769173; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4229339999999 # Actual altitude: 52.4229339999999 # Commanded vehicle depth: 738.769173 # Seafloor depth: -791.192107 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.69; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.97; MB_Bottom_Detect_Filter_Max_Range = 209.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 109.601804 meters # Minimum depth: 789.890174 meters looking forward 100.000000 meters along route # Maximum depth: 796.416830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.890174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349764; longitude = -118.132190; captureRadius = 10; duration = 219; initialDepth = 749.092257; finalDepth = 739.890174; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4229339999999 # Actual altitude: 52.4229339999999 # Commanded vehicle depth: 739.890174 # Seafloor depth: -789.890174 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.69; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.97; MB_Bottom_Detect_Filter_Max_Range = 209.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 109.601353 meters # Minimum depth: 799.092257 meters looking forward 100.000000 meters along route # Maximum depth: 800.709707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 749.092257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350170; longitude = -118.131116; captureRadius = 10; duration = 219; initialDepth = 747.132757; finalDepth = 749.092257; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 749.092257 # Seafloor depth: -799.092257 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 109.600903 meters # Minimum depth: 797.132757 meters looking forward 100.000000 meters along route # Maximum depth: 799.393634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.132757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350576; longitude = -118.130042; captureRadius = 10; duration = 219; initialDepth = 745.514581; finalDepth = 747.132757; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2608770000001 # Actual altitude: 52.2608770000001 # Commanded vehicle depth: 747.132757 # Seafloor depth: -799.393634 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.04; 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 = 209.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 109.600453 meters # Minimum depth: 795.514581 meters looking forward 100.000000 meters along route # Maximum depth: 796.704760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.514581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350982; longitude = -118.128968; captureRadius = 10; duration = 219; initialDepth = 744.151771; finalDepth = 745.514581; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2608770000001 # Actual altitude: 52.2608770000001 # Commanded vehicle depth: 745.514581 # Seafloor depth: -796.704760 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.04; 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 = 209.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 109.600003 meters # Minimum depth: 794.151771 meters looking forward 100.000000 meters along route # Maximum depth: 795.373085 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.151771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351388; longitude = -118.127895; captureRadius = 10; duration = 219; initialDepth = 741.860147; finalDepth = 744.151771; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2213139999999 # Actual altitude: 51.2213139999999 # Commanded vehicle depth: 744.151771 # Seafloor depth: -795.373085 # behavior reson { duration = RESON_DURATION; 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 33 # Segment length 109.599553 meters # Minimum depth: 791.860147 meters looking forward 100.000000 meters along route # Maximum depth: 793.689620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.860147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351793; longitude = -118.126821; captureRadius = 10; duration = 219; initialDepth = 739.909169; finalDepth = 741.860147; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.829473 # Actual altitude: 51.829473 # Commanded vehicle depth: 741.860147 # Seafloor depth: -793.689620 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.32; 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 = 207.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 109.599103 meters # Minimum depth: 789.909169 meters looking forward 100.000000 meters along route # Maximum depth: 791.610722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.909169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352199; longitude = -118.125747; captureRadius = 10; duration = 219; initialDepth = 737.311934; finalDepth = 739.909169; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.829473 # Actual altitude: 51.829473 # Commanded vehicle depth: 739.909169 # Seafloor depth: -791.610722 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.32; 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 = 207.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 109.598653 meters # Minimum depth: 787.311934 meters looking forward 100.000000 meters along route # Maximum depth: 789.332347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.311934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352605; longitude = -118.124673; captureRadius = 10; duration = 219; initialDepth = 734.698104; finalDepth = 737.311934; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0204130000001 # Actual altitude: 52.0204130000001 # Commanded vehicle depth: 737.311934 # Seafloor depth: -789.332347 # behavior reson { duration = RESON_DURATION; 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 33 # Segment length 113.244525 meters # Minimum depth: 784.698104 meters looking forward 100.000000 meters along route # Maximum depth: 787.018331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.698104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353011; longitude = -118.123599; captureRadius = 10; duration = 226; initialDepth = 734.718750; finalDepth = 734.698104; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.320227 # Actual altitude: 52.320227 # Commanded vehicle depth: 734.698104 # Seafloor depth: -787.018331 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 150.017172 meters # Minimum depth: 784.718750 meters looking forward 100.000000 meters along route # Maximum depth: 786.929137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.718750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353430; longitude = -118.122489; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 737.203125; finalDepth = 734.718750; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 52.320227 # Actual altitude: 52.320227 # Commanded vehicle depth: 734.71875 # Seafloor depth: -784.718750 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; 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 to get to end of line 31 # Segment length 125.903191 meters # Minimum depth: 787.203125 meters looking forward 100.000000 meters along route # Maximum depth: 789.551320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.203125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352196; longitude = -118.121828; captureRadius = 10; duration = 251; # abortOnTimeout = True; initialDepth = 740.154204; finalDepth = 737.203125; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 737.203125 # Seafloor depth: -787.203125 # behavior reson { duration = RESON_DURATION; 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 109.600747 meters # Minimum depth: 790.154204 meters looking forward 100.000000 meters along route # Maximum depth: 792.466700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.154204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351730; longitude = -118.123062; captureRadius = 10; duration = 219; initialDepth = 742.616596; finalDepth = 740.154204; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 740.154204 # Seafloor depth: -790.154204 # behavior reson { duration = RESON_DURATION; 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 109.601196 meters # Minimum depth: 792.616596 meters looking forward 100.000000 meters along route # Maximum depth: 794.493311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.616596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351324; longitude = -118.124136; captureRadius = 10; duration = 219; initialDepth = 745.113319; finalDepth = 742.616596; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 742.616596 # Seafloor depth: -792.616596 # behavior reson { duration = RESON_DURATION; 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 109.601646 meters # Minimum depth: 795.113319 meters looking forward 100.000000 meters along route # Maximum depth: 797.247902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.113319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350918; longitude = -118.125210; captureRadius = 10; duration = 219; initialDepth = 747.405919; finalDepth = 745.113319; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 745.113319 # Seafloor depth: -795.113319 # behavior reson { duration = RESON_DURATION; 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 109.602096 meters # Minimum depth: 797.405919 meters looking forward 100.000000 meters along route # Maximum depth: 798.647957 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.405919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350512; longitude = -118.126284; captureRadius = 10; duration = 219; initialDepth = 748.678387; finalDepth = 747.405919; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 747.405919 # Seafloor depth: -797.405919 # behavior reson { duration = RESON_DURATION; 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 109.602547 meters # Minimum depth: 798.678387 meters looking forward 100.000000 meters along route # Maximum depth: 799.000351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 748.678387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350107; longitude = -118.127358; captureRadius = 10; duration = 219; initialDepth = 745.942316; finalDepth = 748.678387; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.203227 # Actual altitude: 50.203227 # Commanded vehicle depth: 748.678387 # Seafloor depth: -798.881614 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.81; 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 = 200.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 109.602996 meters # Minimum depth: 795.942316 meters looking forward 100.000000 meters along route # Maximum depth: 798.644917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.942316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349701; longitude = -118.128432; captureRadius = 10; duration = 219; initialDepth = 747.481070; finalDepth = 745.942316; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.702601 # Actual altitude: 52.702601 # Commanded vehicle depth: 745.942316 # Seafloor depth: -798.644917 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 210.81; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.08; MB_Bottom_Detect_Filter_Max_Range = 210.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 109.603447 meters # Minimum depth: 797.481070 meters looking forward 100.000000 meters along route # Maximum depth: 799.714828 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.481070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349295; longitude = -118.129505; captureRadius = 10; duration = 219; initialDepth = 743.896682; finalDepth = 747.481070; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.702601 # Actual altitude: 52.702601 # Commanded vehicle depth: 747.48107 # Seafloor depth: -798.238013 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 210.81; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.08; MB_Bottom_Detect_Filter_Max_Range = 210.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 109.603896 meters # Minimum depth: 793.896682 meters looking forward 100.000000 meters along route # Maximum depth: 796.473661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.896682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348889; longitude = -118.130579; captureRadius = 10; duration = 219; initialDepth = 743.855546; finalDepth = 743.896682; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5769789999999 # Actual altitude: 52.5769789999999 # Commanded vehicle depth: 743.896682 # Seafloor depth: -796.473661 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 210.31; 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 = 210.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 109.604347 meters # Minimum depth: 793.855546 meters looking forward 100.000000 meters along route # Maximum depth: 796.670347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.855546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348483; longitude = -118.131653; captureRadius = 10; duration = 219; initialDepth = 744.709450; finalDepth = 743.855546; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5769789999999 # Actual altitude: 52.5769789999999 # Commanded vehicle depth: 743.855546 # Seafloor depth: -794.666951 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 210.31; 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 = 210.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 109.604797 meters # Minimum depth: 794.709450 meters looking forward 100.000000 meters along route # Maximum depth: 795.895101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.709450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348078; longitude = -118.132727; captureRadius = 10; duration = 219; initialDepth = 742.312328; finalDepth = 744.709450; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.185651 # Actual altitude: 51.185651 # Commanded vehicle depth: 744.70945 # Seafloor depth: -795.895101 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.74; 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 = 204.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 109.605248 meters # Minimum depth: 792.312328 meters looking forward 100.000000 meters along route # Maximum depth: 794.041136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.312328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347672; longitude = -118.133801; captureRadius = 10; duration = 219; initialDepth = 739.991927; finalDepth = 742.312328; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7288080000001 # Actual altitude: 51.7288080000001 # Commanded vehicle depth: 742.312328 # Seafloor depth: -794.041136 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.92; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 109.605697 meters # Minimum depth: 789.991927 meters looking forward 100.000000 meters along route # Maximum depth: 792.143058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.991927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347266; longitude = -118.134875; captureRadius = 10; duration = 219; initialDepth = 739.916765; finalDepth = 739.991927; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.151131 # Actual altitude: 52.151131 # Commanded vehicle depth: 739.991927 # Seafloor depth: -792.143058 # behavior reson { duration = RESON_DURATION; 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 31 # Segment length 109.606148 meters # Minimum depth: 789.916765 meters looking forward 100.000000 meters along route # Maximum depth: 792.477013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.916765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346860; longitude = -118.135949; captureRadius = 10; duration = 219; initialDepth = 741.153126; finalDepth = 739.916765; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.151131 # Actual altitude: 52.151131 # Commanded vehicle depth: 739.916765 # Seafloor depth: -789.916765 # behavior reson { duration = RESON_DURATION; 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 31 # Segment length 109.606598 meters # Minimum depth: 791.153126 meters looking forward 100.000000 meters along route # Maximum depth: 794.434292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.153126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346454; longitude = -118.137023; captureRadius = 10; duration = 219; initialDepth = 747.755432; finalDepth = 741.153126; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 741.153126 # Seafloor depth: -791.153126 # behavior reson { duration = RESON_DURATION; 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 109.607048 meters # Minimum depth: 797.755432 meters looking forward 100.000000 meters along route # Maximum depth: 803.257602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.755432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346049; longitude = -118.138097; captureRadius = 10; duration = 219; initialDepth = 708.860721; finalDepth = 747.755432; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 747.755432 # Seafloor depth: -797.755432 # behavior reson { duration = RESON_DURATION; 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 109.607498 meters # Minimum depth: 758.860721 meters looking forward 100.000000 meters along route # Maximum depth: 796.903312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.860721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345643; longitude = -118.139171; captureRadius = 10; duration = 219; initialDepth = 680.496711; finalDepth = 708.860721; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.042591 # Actual altitude: 88.042591 # Commanded vehicle depth: 708.860721 # Seafloor depth: -796.903312 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.22; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 109.607949 meters # Minimum depth: 730.496711 meters looking forward 100.000000 meters along route # Maximum depth: 745.813834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.496711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345237; longitude = -118.140245; captureRadius = 10; duration = 219; initialDepth = 682.315505; finalDepth = 680.496711; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.042591 # Actual altitude: 88.042591 # Commanded vehicle depth: 680.496711 # Seafloor depth: -745.813834 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.22; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 109.608400 meters # Minimum depth: 732.315505 meters looking forward 100.000000 meters along route # Maximum depth: 734.540227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.315505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344831; longitude = -118.141319; captureRadius = 10; duration = 219; initialDepth = 684.063887; finalDepth = 682.315505; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.317123 # Actual altitude: 65.317123 # Commanded vehicle depth: 682.315505 # Seafloor depth: -732.771215 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 261.27; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.13; MB_Bottom_Detect_Filter_Max_Range = 261.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 109.608849 meters # Minimum depth: 734.063887 meters looking forward 100.000000 meters along route # Maximum depth: 735.177979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.063887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344425; longitude = -118.142393; captureRadius = 10; duration = 219; initialDepth = 686.291879; finalDepth = 684.063887; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.45571 # Actual altitude: 50.45571 # Commanded vehicle depth: 684.063887 # Seafloor depth: -734.149209 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.82; 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 = 201.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 109.609300 meters # Minimum depth: 736.291879 meters looking forward 100.000000 meters along route # Maximum depth: 738.089108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.291879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344020; longitude = -118.143467; captureRadius = 10; duration = 219; initialDepth = 689.560741; finalDepth = 686.291879; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.085322 # Actual altitude: 50.085322 # Commanded vehicle depth: 686.291879 # Seafloor depth: -736.291879 # behavior reson { duration = RESON_DURATION; 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 31 # Segment length 110.438889 meters # Minimum depth: 739.560741 meters looking forward 100.000000 meters along route # Maximum depth: 742.604845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.560741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343614; longitude = -118.144541; captureRadius = 10; duration = 220; initialDepth = 688.023580; finalDepth = 689.560741; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 689.560741 # Seafloor depth: -739.560741 # behavior reson { duration = RESON_DURATION; 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 149.957848 meters # Minimum depth: 738.023580 meters looking forward 100.000000 meters along route # Maximum depth: 742.535721 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.023580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343205; longitude = -118.145623; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 688.462814; finalDepth = 688.023580; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 54.5121409999999 # Actual altitude: 54.5121409999999 # Commanded vehicle depth: 688.02358 # Seafloor depth: -742.535721 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; 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 to get to end of line 29 # Segment length 125.080702 meters # Minimum depth: 738.462814 meters looking forward 100.000000 meters along route # Maximum depth: 743.795653 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.462814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341972; longitude = -118.144961; captureRadius = 10; duration = 250; # abortOnTimeout = True; initialDepth = 688.955612; finalDepth = 688.462814; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5121409999999 # Actual altitude: 54.5121409999999 # Commanded vehicle depth: 688.462814 # Seafloor depth: -738.462814 # behavior reson { duration = RESON_DURATION; 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 29 # Segment length 109.608450 meters # Minimum depth: 738.955612 meters looking forward 100.000000 meters along route # Maximum depth: 742.757071 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.955612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342435; longitude = -118.143735; captureRadius = 10; duration = 219; initialDepth = 685.669410; finalDepth = 688.955612; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.801459 # Actual altitude: 53.801459 # Commanded vehicle depth: 688.955612 # Seafloor depth: -742.757071 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 215.21; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.52; MB_Bottom_Detect_Filter_Max_Range = 215.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 109.607998 meters # Minimum depth: 735.669410 meters looking forward 100.000000 meters along route # Maximum depth: 738.106179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.669410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342841; longitude = -118.142661; captureRadius = 10; duration = 219; initialDepth = 684.981050; finalDepth = 685.669410; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.801459 # Actual altitude: 53.801459 # Commanded vehicle depth: 685.66941 # Seafloor depth: -738.106179 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 215.21; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.52; MB_Bottom_Detect_Filter_Max_Range = 215.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 109.607549 meters # Minimum depth: 734.981050 meters looking forward 100.000000 meters along route # Maximum depth: 736.043060 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.981050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343247; longitude = -118.141588; captureRadius = 10; duration = 219; initialDepth = 681.340661; finalDepth = 684.981050; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.436769 # Actual altitude: 52.436769 # Commanded vehicle depth: 684.98105 # Seafloor depth: -735.809794 # behavior reson { duration = RESON_DURATION; 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 29 # Segment length 109.607098 meters # Minimum depth: 731.340661 meters looking forward 100.000000 meters along route # Maximum depth: 734.443237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.340661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343652; longitude = -118.140514; captureRadius = 10; duration = 219; initialDepth = 687.665324; finalDepth = 681.340661; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.828744 # Actual altitude: 50.828744 # Commanded vehicle depth: 681.340661 # Seafloor depth: -731.340661 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.31; 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 = 203.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 109.606648 meters # Minimum depth: 737.665324 meters looking forward 100.000000 meters along route # Maximum depth: 757.650030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.665324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344058; longitude = -118.139440; captureRadius = 10; duration = 219; initialDepth = 723.084863; finalDepth = 687.665324; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 687.665324 # Seafloor depth: -737.665324 # behavior reson { duration = RESON_DURATION; 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 119.030291 meters # Minimum depth: 773.084863 meters looking forward 100.000000 meters along route # Maximum depth: 803.071070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.084863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344464; longitude = -118.138366; captureRadius = 10; duration = 238; initialDepth = 746.473548; finalDepth = 723.084863; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 723.084863 # Seafloor depth: -773.084863 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.181654 meters # Minimum depth: 796.473548 meters looking forward 100.000000 meters along route # Maximum depth: 801.631650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 746.473548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344904; longitude = -118.137199; captureRadius = 10; duration = 200; initialDepth = 744.166400; finalDepth = 746.473548; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.922197 # Actual altitude: 54.922197 # Commanded vehicle depth: 746.473548 # Seafloor depth: -801.395745 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 219.69; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.97; MB_Bottom_Detect_Filter_Max_Range = 219.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 117.398649 meters # Minimum depth: 794.166400 meters looking forward 100.000000 meters along route # Maximum depth: 795.493635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.166400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345275; longitude = -118.136218; captureRadius = 10; duration = 234; initialDepth = 742.812811; finalDepth = 744.166400; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.922197 # Actual altitude: 54.922197 # Commanded vehicle depth: 744.1664 # Seafloor depth: -795.493635 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 219.69; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.97; MB_Bottom_Detect_Filter_Max_Range = 219.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 101.811495 meters # Minimum depth: 792.812811 meters looking forward 100.000000 meters along route # Maximum depth: 794.459212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.812811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345710; longitude = -118.135067; captureRadius = 10; duration = 203; initialDepth = 743.292893; finalDepth = 742.812811; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.646401 # Actual altitude: 51.646401 # Commanded vehicle depth: 742.812811 # Seafloor depth: -794.459212 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.59; 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 = 206.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 115.767034 meters # Minimum depth: 793.292893 meters looking forward 100.000000 meters along route # Maximum depth: 795.150290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.292893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346087; longitude = -118.134070; captureRadius = 10; duration = 231; initialDepth = 745.194309; finalDepth = 743.292893; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.646401 # Actual altitude: 51.646401 # Commanded vehicle depth: 743.292893 # Seafloor depth: -793.523855 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.59; 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 = 206.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.441310 meters # Minimum depth: 795.194309 meters looking forward 100.000000 meters along route # Maximum depth: 796.203328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.194309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346515; longitude = -118.132935; captureRadius = 10; duration = 206; initialDepth = 745.503894; finalDepth = 745.194309; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.230962 # Actual altitude: 50.230962 # Commanded vehicle depth: 745.194309 # Seafloor depth: -795.223478 # behavior reson { duration = RESON_DURATION; 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 114.135445 meters # Minimum depth: 795.503894 meters looking forward 100.000000 meters along route # Maximum depth: 797.002877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.503894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346898; longitude = -118.131922; captureRadius = 10; duration = 228; initialDepth = 746.004116; finalDepth = 745.503894; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4989830000001 # Actual altitude: 51.4989830000001 # Commanded vehicle depth: 745.503894 # Seafloor depth: -797.002877 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 206.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 105.071098 meters # Minimum depth: 796.004116 meters looking forward 100.000000 meters along route # Maximum depth: 797.472301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 746.004116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347321; longitude = -118.130804; captureRadius = 10; duration = 210; initialDepth = 748.070924; finalDepth = 746.004116; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4989830000001 # Actual altitude: 51.4989830000001 # Commanded vehicle depth: 746.004116 # Seafloor depth: -796.004116 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 206.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 112.503883 meters # Minimum depth: 798.070924 meters looking forward 100.000000 meters along route # Maximum depth: 803.722598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 748.070924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347710; longitude = -118.129774; captureRadius = 10; duration = 225; initialDepth = 753.806606; finalDepth = 748.070924; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 748.070924 # Seafloor depth: -798.070924 # behavior reson { duration = RESON_DURATION; 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 106.700860 meters # Minimum depth: 803.806606 meters looking forward 100.000000 meters along route # Maximum depth: 804.576005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.806606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348126; longitude = -118.128672; captureRadius = 10; duration = 213; initialDepth = 753.574713; finalDepth = 753.806606; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 753.806606 # Seafloor depth: -803.806606 # behavior reson { duration = RESON_DURATION; 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 110.872348 meters # Minimum depth: 803.574713 meters looking forward 100.000000 meters along route # Maximum depth: 804.483311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.574713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348521; longitude = -118.127626; captureRadius = 10; duration = 221; initialDepth = 752.121131; finalDepth = 753.574713; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.365977 # Actual altitude: 50.365977 # Commanded vehicle depth: 753.574713 # Seafloor depth: -803.940690 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 108.330595 meters # Minimum depth: 802.121131 meters looking forward 100.000000 meters along route # Maximum depth: 804.213887 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.121131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348932; longitude = -118.126540; captureRadius = 10; duration = 216; initialDepth = 747.956945; finalDepth = 752.121131; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.092756 # Actual altitude: 52.092756 # Commanded vehicle depth: 752.121131 # Seafloor depth: -804.213887 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.37; 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 = 208.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 109.600797 meters # Minimum depth: 797.956945 meters looking forward 100.000000 meters along route # Maximum depth: 801.256148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.956945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349333; longitude = -118.125478; captureRadius = 10; duration = 219; initialDepth = 745.752396; finalDepth = 747.956945; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.299203 # Actual altitude: 53.299203 # Commanded vehicle depth: 747.956945 # Seafloor depth: -801.256148 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 213.20; 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 = 213.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 109.600347 meters # Minimum depth: 795.752396 meters looking forward 100.000000 meters along route # Maximum depth: 797.946907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.752396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349739; longitude = -118.124404; captureRadius = 10; duration = 219; initialDepth = 742.518971; finalDepth = 745.752396; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.299203 # Actual altitude: 53.299203 # Commanded vehicle depth: 745.752396 # Seafloor depth: -797.946907 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 213.20; 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 = 213.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 109.599896 meters # Minimum depth: 792.518971 meters looking forward 100.000000 meters along route # Maximum depth: 795.048076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.518971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350144; longitude = -118.123330; captureRadius = 10; duration = 219; initialDepth = 740.103354; finalDepth = 742.518971; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5291050000001 # Actual altitude: 52.5291050000001 # Commanded vehicle depth: 742.518971 # Seafloor depth: -795.048076 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 210.12; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.01; MB_Bottom_Detect_Filter_Max_Range = 210.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 111.260877 meters # Minimum depth: 790.103354 meters looking forward 100.000000 meters along route # Maximum depth: 792.474038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.103354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350550; longitude = -118.122256; captureRadius = 10; duration = 222; initialDepth = 739.979980; finalDepth = 740.103354; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.5291050000001 # Actual altitude: 52.5291050000001 # Commanded vehicle depth: 740.103354 # Seafloor depth: -792.474038 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 210.12; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.01; MB_Bottom_Detect_Filter_Max_Range = 210.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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 149.916663 meters # Minimum depth: 789.979980 meters looking forward 100.000000 meters along route # Maximum depth: 792.495281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.979980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350962; longitude = -118.121166; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 742.834961; finalDepth = 739.979980; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 52.370684 # Actual altitude: 52.370684 # Commanded vehicle depth: 739.97998 # Seafloor depth: -789.979980 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 209.48; 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 = 209.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 123.921972 meters # Minimum depth: 792.834961 meters looking forward 100.000000 meters along route # Maximum depth: 794.507137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.834961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349729; longitude = -118.120505; captureRadius = 10; duration = 247; # abortOnTimeout = True; initialDepth = 745.093854; finalDepth = 742.834961; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 742.834961 # Seafloor depth: -792.834961 # behavior reson { duration = RESON_DURATION; 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 109.604043 meters # Minimum depth: 795.093854 meters looking forward 100.000000 meters along route # Maximum depth: 797.179236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.093854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349270; longitude = -118.121719; captureRadius = 10; duration = 219; initialDepth = 747.621342; finalDepth = 745.093854; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 745.093854 # Seafloor depth: -795.093854 # behavior reson { duration = RESON_DURATION; 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 109.604494 meters # Minimum depth: 797.621342 meters looking forward 100.000000 meters along route # Maximum depth: 799.823562 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.621342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348864; longitude = -118.122793; captureRadius = 10; duration = 219; initialDepth = 750.650332; finalDepth = 747.621342; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 747.621342 # Seafloor depth: -797.621342 # behavior reson { duration = RESON_DURATION; 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 109.604943 meters # Minimum depth: 800.650332 meters looking forward 100.000000 meters along route # Maximum depth: 803.957893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.650332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348459; longitude = -118.123867; captureRadius = 10; duration = 219; initialDepth = 754.849283; finalDepth = 750.650332; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 750.650332 # Seafloor depth: -800.650332 # behavior reson { duration = RESON_DURATION; 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 109.605393 meters # Minimum depth: 804.849283 meters looking forward 100.000000 meters along route # Maximum depth: 810.118776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.849283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348053; longitude = -118.124941; captureRadius = 10; duration = 219; initialDepth = 760.379405; finalDepth = 754.849283; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 754.849283 # Seafloor depth: -804.849283 # behavior reson { duration = RESON_DURATION; 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 109.605844 meters # Minimum depth: 810.379405 meters looking forward 100.000000 meters along route # Maximum depth: 811.595985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.379405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347647; longitude = -118.126015; captureRadius = 10; duration = 219; initialDepth = 754.394287; finalDepth = 760.379405; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 760.379405 # Seafloor depth: -810.379405 # behavior reson { duration = RESON_DURATION; 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 109.606293 meters # Minimum depth: 804.394287 meters looking forward 100.000000 meters along route # Maximum depth: 809.602660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.394287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347241; longitude = -118.127089; captureRadius = 10; duration = 219; initialDepth = 752.283219; finalDepth = 754.394287; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2083730000001 # Actual altitude: 55.2083730000001 # Commanded vehicle depth: 754.394287 # Seafloor depth: -809.602660 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 220.83; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.08; MB_Bottom_Detect_Filter_Max_Range = 220.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 109.606744 meters # Minimum depth: 802.283219 meters looking forward 100.000000 meters along route # Maximum depth: 803.961643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.283219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346835; longitude = -118.128163; captureRadius = 10; duration = 219; initialDepth = 749.239686; finalDepth = 752.283219; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2083730000001 # Actual altitude: 55.2083730000001 # Commanded vehicle depth: 752.283219 # Seafloor depth: -803.961643 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 220.83; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.08; MB_Bottom_Detect_Filter_Max_Range = 220.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 109.607194 meters # Minimum depth: 799.239686 meters looking forward 100.000000 meters along route # Maximum depth: 801.529881 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 749.239686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346429; longitude = -118.129237; captureRadius = 10; duration = 219; initialDepth = 751.020405; finalDepth = 749.239686; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.290195 # Actual altitude: 52.290195 # Commanded vehicle depth: 749.239686 # Seafloor depth: -801.529881 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.16; 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 = 209.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 109.607643 meters # Minimum depth: 801.020405 meters looking forward 100.000000 meters along route # Maximum depth: 801.710541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.020405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346024; longitude = -118.130311; captureRadius = 10; duration = 219; initialDepth = 747.825568; finalDepth = 751.020405; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.290195 # Actual altitude: 52.290195 # Commanded vehicle depth: 751.020405 # Seafloor depth: -801.240749 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.16; 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 = 209.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 109.608094 meters # Minimum depth: 797.825568 meters looking forward 100.000000 meters along route # Maximum depth: 801.347547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.825568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345618; longitude = -118.131385; captureRadius = 10; duration = 219; initialDepth = 748.148838; finalDepth = 747.825568; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.521979 # Actual altitude: 53.521979 # Commanded vehicle depth: 747.825568 # Seafloor depth: -801.347547 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 214.09; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 109.608544 meters # Minimum depth: 798.148838 meters looking forward 100.000000 meters along route # Maximum depth: 798.324313 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 748.148838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345212; longitude = -118.132459; captureRadius = 10; duration = 219; initialDepth = 746.565710; finalDepth = 748.148838; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.521979 # Actual altitude: 53.521979 # Commanded vehicle depth: 748.148838 # Seafloor depth: -798.148838 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 214.09; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 118.502469 meters # Minimum depth: 796.565710 meters looking forward 100.000000 meters along route # Maximum depth: 798.764699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 746.565710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344806; longitude = -118.133533; captureRadius = 10; duration = 237; initialDepth = 749.340781; finalDepth = 746.565710; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.802415 # Actual altitude: 50.802415 # Commanded vehicle depth: 746.56571 # Seafloor depth: -797.368125 # behavior reson { duration = RESON_DURATION; 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 27 # Segment length 100.715970 meters # Minimum depth: 799.340781 meters looking forward 100.000000 meters along route # Maximum depth: 801.424817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 749.340781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344367; longitude = -118.134694; captureRadius = 10; duration = 201; initialDepth = 726.478407; finalDepth = 749.340781; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.802415 # Actual altitude: 50.802415 # Commanded vehicle depth: 749.340781 # Seafloor depth: -799.340781 # behavior reson { duration = RESON_DURATION; 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 27 # Segment length 116.839357 meters # Minimum depth: 776.478407 meters looking forward 100.000000 meters along route # Maximum depth: 802.876934 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.478407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343995; longitude = -118.135681; captureRadius = 10; duration = 233; initialDepth = 692.933836; finalDepth = 726.478407; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.67564 # Actual altitude: 75.67564 # Commanded vehicle depth: 726.478407 # Seafloor depth: -802.154047 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 302.70; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.27; MB_Bottom_Detect_Filter_Max_Range = 302.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 102.380882 meters # Minimum depth: 742.933836 meters looking forward 100.000000 meters along route # Maximum depth: 773.087066 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.933836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343562; longitude = -118.136826; captureRadius = 10; duration = 204; initialDepth = 686.013742; finalDepth = 692.933836; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.15323 # Actual altitude: 80.15323 # Commanded vehicle depth: 692.933836 # Seafloor depth: -773.087066 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 320.61; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.06; MB_Bottom_Detect_Filter_Max_Range = 320.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 115.176219 meters # Minimum depth: 736.013742 meters looking forward 100.000000 meters along route # Maximum depth: 738.744703 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.013742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343183; longitude = -118.137829; captureRadius = 10; duration = 230; initialDepth = 684.861536; finalDepth = 686.013742; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.15323 # Actual altitude: 80.15323 # Commanded vehicle depth: 686.013742 # Seafloor depth: -738.744703 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 320.61; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.06; MB_Bottom_Detect_Filter_Max_Range = 320.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.045822 meters # Minimum depth: 734.861536 meters looking forward 100.000000 meters along route # Maximum depth: 735.791289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.861536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342757; longitude = -118.138957; captureRadius = 10; duration = 208; initialDepth = 687.211932; finalDepth = 684.861536; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.730961 # Actual altitude: 52.730961 # Commanded vehicle depth: 684.861536 # Seafloor depth: -735.791289 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 210.92; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.09; MB_Bottom_Detect_Filter_Max_Range = 210.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 113.513053 meters # Minimum depth: 737.211932 meters looking forward 100.000000 meters along route # Maximum depth: 738.639696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.211932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342371; longitude = -118.139977; captureRadius = 10; duration = 227; initialDepth = 688.773388; finalDepth = 687.211932; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0691979999999 # Actual altitude: 51.0691979999999 # Commanded vehicle depth: 687.211932 # Seafloor depth: -738.281130 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.28; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 105.710789 meters # Minimum depth: 738.773388 meters looking forward 100.000000 meters along route # Maximum depth: 741.450773 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.773388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341951; longitude = -118.141089; captureRadius = 10; duration = 211; initialDepth = 692.378649; finalDepth = 688.773388; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0691979999999 # Actual altitude: 51.0691979999999 # Commanded vehicle depth: 688.773388 # Seafloor depth: -738.773388 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.28; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 111.849861 meters # Minimum depth: 742.378649 meters looking forward 100.000000 meters along route # Maximum depth: 745.347320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.378649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341560; longitude = -118.142125; captureRadius = 10; duration = 223; initialDepth = 684.750166; finalDepth = 692.378649; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 692.378649 # Seafloor depth: -742.378649 # behavior reson { duration = RESON_DURATION; 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 110.088069 meters # Minimum depth: 734.750166 meters looking forward 100.000000 meters along route # Maximum depth: 744.873876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.750166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341146; longitude = -118.143220; captureRadius = 10; duration = 220; initialDepth = 683.618637; finalDepth = 684.750166; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 60.12371 # Actual altitude: 60.12371 # Commanded vehicle depth: 684.750166 # Seafloor depth: -744.873876 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 240.49; 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 = 240.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.49; 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 149.920250 meters # Minimum depth: 733.618637 meters looking forward 100.000000 meters along route # Maximum depth: 739.586055 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.618637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340738; longitude = -118.144299; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 683.325912; finalDepth = 683.618637; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 60.12371 # Actual altitude: 60.12371 # Commanded vehicle depth: 683.618637 # Seafloor depth: -733.618637 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 240.49; 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 = 240.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 127.068738 meters # Minimum depth: 733.325912 meters looking forward 100.000000 meters along route # Maximum depth: 737.401093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.325912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339505; longitude = -118.143638; captureRadius = 10; duration = 254; # abortOnTimeout = True; initialDepth = 689.700850; finalDepth = 683.325912; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0751809999999 # Actual altitude: 54.0751809999999 # Commanded vehicle depth: 683.325912 # Seafloor depth: -737.401093 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 216.30; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.63; MB_Bottom_Detect_Filter_Max_Range = 216.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.610969 meters # Minimum depth: 739.700850 meters looking forward 100.000000 meters along route # Maximum depth: 743.681449 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.700850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339975; longitude = -118.142393; captureRadius = 10; duration = 219; initialDepth = 690.227794; finalDepth = 689.700850; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0751809999999 # Actual altitude: 54.0751809999999 # Commanded vehicle depth: 689.70085 # Seafloor depth: -739.700850 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 216.30; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.63; MB_Bottom_Detect_Filter_Max_Range = 216.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 109.610519 meters # Minimum depth: 740.227794 meters looking forward 100.000000 meters along route # Maximum depth: 743.667376 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.227794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340381; longitude = -118.141319; captureRadius = 10; duration = 219; initialDepth = 688.263503; finalDepth = 690.227794; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.439582 # Actual altitude: 53.439582 # Commanded vehicle depth: 690.227794 # Seafloor depth: -743.667376 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 213.76; 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 = 213.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 109.610068 meters # Minimum depth: 738.263503 meters looking forward 100.000000 meters along route # Maximum depth: 739.613902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.263503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340787; longitude = -118.140245; captureRadius = 10; duration = 219; initialDepth = 686.986834; finalDepth = 688.263503; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.439582 # Actual altitude: 53.439582 # Commanded vehicle depth: 688.263503 # Seafloor depth: -739.613902 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 213.76; 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 = 213.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 109.609618 meters # Minimum depth: 736.986834 meters looking forward 100.000000 meters along route # Maximum depth: 739.715688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.986834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341193; longitude = -118.139171; captureRadius = 10; duration = 219; initialDepth = 685.669337; finalDepth = 686.986834; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.595283 # Actual altitude: 51.595283 # Commanded vehicle depth: 686.986834 # Seafloor depth: -738.582117 # behavior reson { duration = RESON_DURATION; 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 25 # Segment length 109.609168 meters # Minimum depth: 735.669337 meters looking forward 100.000000 meters along route # Maximum depth: 740.701694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.669337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341598; longitude = -118.138097; captureRadius = 10; duration = 219; initialDepth = 689.700983; finalDepth = 685.669337; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.717868 # Actual altitude: 52.717868 # Commanded vehicle depth: 685.669337 # Seafloor depth: -738.387205 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 210.87; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.09; MB_Bottom_Detect_Filter_Max_Range = 210.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 109.608718 meters # Minimum depth: 739.700983 meters looking forward 100.000000 meters along route # Maximum depth: 740.305290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.700983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342004; longitude = -118.137023; captureRadius = 10; duration = 219; initialDepth = 692.854070; finalDepth = 689.700983; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.717868 # Actual altitude: 52.717868 # Commanded vehicle depth: 689.700983 # Seafloor depth: -740.305290 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 210.87; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.09; MB_Bottom_Detect_Filter_Max_Range = 210.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 109.608267 meters # Minimum depth: 742.854070 meters looking forward 100.000000 meters along route # Maximum depth: 767.734199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.854070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342410; longitude = -118.135949; captureRadius = 10; duration = 219; initialDepth = 723.904122; finalDepth = 692.854070; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6043070000001 # Actual altitude: 50.6043070000001 # Commanded vehicle depth: 692.85407 # Seafloor depth: -742.854070 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.42; 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 = 202.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 109.607818 meters # Minimum depth: 773.904122 meters looking forward 100.000000 meters along route # Maximum depth: 804.507071 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.904122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342816; longitude = -118.134875; captureRadius = 10; duration = 219; initialDepth = 754.042601; finalDepth = 723.904122; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 723.904122 # Seafloor depth: -773.904122 # behavior reson { duration = RESON_DURATION; 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 109.607367 meters # Minimum depth: 804.042601 meters looking forward 100.000000 meters along route # Maximum depth: 810.693444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.042601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343221; longitude = -118.133801; captureRadius = 10; duration = 219; initialDepth = 753.592171; finalDepth = 754.042601; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.650843 # Actual altitude: 56.650843 # Commanded vehicle depth: 754.042601 # Seafloor depth: -810.693444 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 226.60; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.66; MB_Bottom_Detect_Filter_Max_Range = 226.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 109.606917 meters # Minimum depth: 803.592171 meters looking forward 100.000000 meters along route # Maximum depth: 804.601684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.592171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343627; longitude = -118.132727; captureRadius = 10; duration = 219; initialDepth = 753.626738; finalDepth = 753.592171; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.650843 # Actual altitude: 56.650843 # Commanded vehicle depth: 753.592171 # Seafloor depth: -803.592171 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 226.60; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.66; MB_Bottom_Detect_Filter_Max_Range = 226.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 109.606467 meters # Minimum depth: 803.626738 meters looking forward 100.000000 meters along route # Maximum depth: 805.821877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.626738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344033; longitude = -118.131653; captureRadius = 10; duration = 219; initialDepth = 756.588797; finalDepth = 753.626738; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2489949999999 # Actual altitude: 51.2489949999999 # Commanded vehicle depth: 753.626738 # Seafloor depth: -804.875733 # behavior reson { duration = RESON_DURATION; 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 25 # Segment length 109.606018 meters # Minimum depth: 806.588797 meters looking forward 100.000000 meters along route # Maximum depth: 807.461341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.588797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344439; longitude = -118.130579; captureRadius = 10; duration = 219; initialDepth = 753.492373; finalDepth = 756.588797; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2489949999999 # Actual altitude: 51.2489949999999 # Commanded vehicle depth: 756.588797 # Seafloor depth: -806.881671 # behavior reson { duration = RESON_DURATION; 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 25 # Segment length 109.605567 meters # Minimum depth: 803.492373 meters looking forward 100.000000 meters along route # Maximum depth: 804.933969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.492373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344844; longitude = -118.129505; captureRadius = 10; duration = 219; initialDepth = 755.006488; finalDepth = 753.492373; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.441596 # Actual altitude: 51.441596 # Commanded vehicle depth: 753.492373 # Seafloor depth: -804.933969 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 109.605117 meters # Minimum depth: 805.006488 meters looking forward 100.000000 meters along route # Maximum depth: 805.569658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.006488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345250; longitude = -118.128432; captureRadius = 10; duration = 219; initialDepth = 750.395041; finalDepth = 755.006488; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.441596 # Actual altitude: 51.441596 # Commanded vehicle depth: 755.006488 # Seafloor depth: -805.287351 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 109.604667 meters # Minimum depth: 800.395041 meters looking forward 100.000000 meters along route # Maximum depth: 805.120165 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.395041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345656; longitude = -118.127358; captureRadius = 10; duration = 219; initialDepth = 750.232876; finalDepth = 750.395041; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7251240000001 # Actual altitude: 54.7251240000001 # Commanded vehicle depth: 750.395041 # Seafloor depth: -805.120165 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 218.90; 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 = 218.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 109.604217 meters # Minimum depth: 800.232876 meters looking forward 100.000000 meters along route # Maximum depth: 803.502321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.232876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346062; longitude = -118.126284; captureRadius = 10; duration = 219; initialDepth = 754.623817; finalDepth = 750.232876; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7251240000001 # Actual altitude: 54.7251240000001 # Commanded vehicle depth: 750.232876 # Seafloor depth: -800.232876 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 218.90; 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 = 218.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 109.603767 meters # Minimum depth: 804.623817 meters looking forward 100.000000 meters along route # Maximum depth: 805.356807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.623817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346467; longitude = -118.125210; captureRadius = 10; duration = 219; initialDepth = 751.965059; finalDepth = 754.623817; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 754.623817 # Seafloor depth: -804.623817 # behavior reson { duration = RESON_DURATION; 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 109.603317 meters # Minimum depth: 801.965059 meters looking forward 100.000000 meters along route # Maximum depth: 804.113464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.965059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346873; longitude = -118.124136; captureRadius = 10; duration = 219; initialDepth = 749.483956; finalDepth = 751.965059; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.148405 # Actual altitude: 52.148405 # Commanded vehicle depth: 751.965059 # Seafloor depth: -804.113464 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.59; 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 = 208.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 109.602868 meters # Minimum depth: 799.483956 meters looking forward 100.000000 meters along route # Maximum depth: 801.309200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 749.483956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347279; longitude = -118.123062; captureRadius = 10; duration = 219; initialDepth = 747.366973; finalDepth = 749.483956; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.148405 # Actual altitude: 52.148405 # Commanded vehicle depth: 749.483956 # Seafloor depth: -801.309200 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.59; 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 = 208.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 109.602417 meters # Minimum depth: 797.366973 meters looking forward 100.000000 meters along route # Maximum depth: 798.955418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.366973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347685; longitude = -118.121988; captureRadius = 10; duration = 219; initialDepth = 745.322142; finalDepth = 747.366973; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.825244 # Actual altitude: 51.825244 # Commanded vehicle depth: 747.366973 # Seafloor depth: -798.955418 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.30; 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 = 207.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 109.278457 meters # Minimum depth: 795.322142 meters looking forward 100.000000 meters along route # Maximum depth: 796.854197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.322142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348090; longitude = -118.120914; captureRadius = 10; duration = 218; initialDepth = 744.868164; finalDepth = 745.322142; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.588445 # Actual altitude: 51.588445 # Commanded vehicle depth: 745.322142 # Seafloor depth: -796.854197 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 206.35; 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 = 206.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.35; 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 150.018404 meters # Minimum depth: 794.868164 meters looking forward 100.000000 meters along route # Maximum depth: 797.043552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.868164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348495; longitude = -118.119843; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 747.327148; finalDepth = 744.868164; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 51.532055 # Actual altitude: 51.532055 # Commanded vehicle depth: 744.868164 # Seafloor depth: -794.868164 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 206.13; 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 = 206.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 128.880414 meters # Minimum depth: 797.327148 meters looking forward 100.000000 meters along route # Maximum depth: 799.111043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.327148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347261; longitude = -118.119182; captureRadius = 10; duration = 257; # abortOnTimeout = True; initialDepth = 749.217484; finalDepth = 747.327148; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 747.327148 # Seafloor depth: -797.327148 # behavior reson { duration = RESON_DURATION; 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 102.661580 meters # Minimum depth: 799.217484 meters looking forward 100.000000 meters along route # Maximum depth: 800.297874 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 749.217484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346784; longitude = -118.120445; captureRadius = 10; duration = 205; initialDepth = 750.680975; finalDepth = 749.217484; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 749.217484 # Seafloor depth: -799.217484 # behavior reson { duration = RESON_DURATION; 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 114.908137 meters # Minimum depth: 800.680975 meters looking forward 100.000000 meters along route # Maximum depth: 802.061940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.680975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346404; longitude = -118.121451; captureRadius = 10; duration = 229; initialDepth = 752.134889; finalDepth = 750.680975; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 750.680975 # Seafloor depth: -800.680975 # behavior reson { duration = RESON_DURATION; 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 104.302234 meters # Minimum depth: 802.134889 meters looking forward 100.000000 meters along route # Maximum depth: 803.183795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.134889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345978; longitude = -118.122577; captureRadius = 10; duration = 208; initialDepth = 753.733256; finalDepth = 752.134889; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 752.134889 # Seafloor depth: -802.134889 # behavior reson { duration = RESON_DURATION; 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 113.269256 meters # Minimum depth: 803.733256 meters looking forward 100.000000 meters along route # Maximum depth: 805.366104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.733256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345592; longitude = -118.123599; captureRadius = 10; duration = 226; initialDepth = 753.893673; finalDepth = 753.733256; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 753.733256 # Seafloor depth: -803.733256 # behavior reson { duration = RESON_DURATION; 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 105.942915 meters # Minimum depth: 803.893673 meters looking forward 100.000000 meters along route # Maximum depth: 804.754335 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.893673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345173; longitude = -118.124709; captureRadius = 10; duration = 211; initialDepth = 754.186868; finalDepth = 753.893673; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8606619999999 # Actual altitude: 50.8606619999999 # Commanded vehicle depth: 753.893673 # Seafloor depth: -804.754335 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.44; 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 = 203.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 111.630348 meters # Minimum depth: 804.186868 meters looking forward 100.000000 meters along route # Maximum depth: 805.560131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.186868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344781; longitude = -118.125747; captureRadius = 10; duration = 223; initialDepth = 754.748422; finalDepth = 754.186868; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8606619999999 # Actual altitude: 50.8606619999999 # Commanded vehicle depth: 754.186868 # Seafloor depth: -804.186868 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.44; 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 = 203.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 107.583622 meters # Minimum depth: 804.748422 meters looking forward 100.000000 meters along route # Maximum depth: 805.278569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.748422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344367; longitude = -118.126840; captureRadius = 10; duration = 215; initialDepth = 754.224989; finalDepth = 754.748422; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.504673 # Actual altitude: 50.504673 # Commanded vehicle depth: 754.748422 # Seafloor depth: -805.253095 # behavior reson { duration = RESON_DURATION; 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 23 # Segment length 109.991413 meters # Minimum depth: 804.224989 meters looking forward 100.000000 meters along route # Maximum depth: 805.448649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.224989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343969; longitude = -118.127895; captureRadius = 10; duration = 219; initialDepth = 755.131258; finalDepth = 754.224989; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.504673 # Actual altitude: 50.504673 # Commanded vehicle depth: 754.224989 # Seafloor depth: -804.512340 # behavior reson { duration = RESON_DURATION; 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 23 # Segment length 109.224358 meters # Minimum depth: 805.131258 meters looking forward 100.000000 meters along route # Maximum depth: 805.982267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.131258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343562; longitude = -118.128972; captureRadius = 10; duration = 218; initialDepth = 755.658685; finalDepth = 755.131258; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3144610000001 # Actual altitude: 50.3144610000001 # Commanded vehicle depth: 755.131258 # Seafloor depth: -805.445719 # behavior reson { duration = RESON_DURATION; 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 23 # Segment length 109.608560 meters # Minimum depth: 805.658685 meters looking forward 100.000000 meters along route # Maximum depth: 806.737729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.658685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343158; longitude = -118.130042; captureRadius = 10; duration = 219; initialDepth = 747.817485; finalDepth = 755.658685; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3144610000001 # Actual altitude: 50.3144610000001 # Commanded vehicle depth: 755.658685 # Seafloor depth: -805.814556 # behavior reson { duration = RESON_DURATION; 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 23 # Segment length 109.609010 meters # Minimum depth: 797.817485 meters looking forward 100.000000 meters along route # Maximum depth: 805.579534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.817485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342752; longitude = -118.131116; captureRadius = 10; duration = 219; initialDepth = 704.177950; finalDepth = 747.817485; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.7620489999999 # Actual altitude: 57.7620489999999 # Commanded vehicle depth: 747.817485 # Seafloor depth: -805.579534 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 231.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.10; MB_Bottom_Detect_Filter_Max_Range = 231.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 109.609460 meters # Minimum depth: 754.177950 meters looking forward 100.000000 meters along route # Maximum depth: 789.342173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.177950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342346; longitude = -118.132190; captureRadius = 10; duration = 219; initialDepth = 694.648733; finalDepth = 704.177950; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.164223 # Actual altitude: 85.164223 # Commanded vehicle depth: 704.17795 # Seafloor depth: -789.342173 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 340.66; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.07; MB_Bottom_Detect_Filter_Max_Range = 340.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 109.609911 meters # Minimum depth: 744.648733 meters looking forward 100.000000 meters along route # Maximum depth: 753.658206 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.648733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341940; longitude = -118.133264; captureRadius = 10; duration = 219; initialDepth = 690.043300; finalDepth = 694.648733; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.164223 # Actual altitude: 85.164223 # Commanded vehicle depth: 694.648733 # Seafloor depth: -753.658206 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 340.66; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.07; MB_Bottom_Detect_Filter_Max_Range = 340.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 109.610360 meters # Minimum depth: 740.043300 meters looking forward 100.000000 meters along route # Maximum depth: 743.239251 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.043300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341535; longitude = -118.134338; captureRadius = 10; duration = 219; initialDepth = 689.948428; finalDepth = 690.043300; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.009473 # Actual altitude: 59.009473 # Commanded vehicle depth: 690.0433 # Seafloor depth: -743.239251 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 236.04; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.60; MB_Bottom_Detect_Filter_Max_Range = 236.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 109.610811 meters # Minimum depth: 739.948428 meters looking forward 100.000000 meters along route # Maximum depth: 741.180797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.948428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341129; longitude = -118.135412; captureRadius = 10; duration = 219; initialDepth = 685.481355; finalDepth = 689.948428; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1959509999999 # Actual altitude: 53.1959509999999 # Commanded vehicle depth: 689.948428 # Seafloor depth: -740.053749 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 212.78; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 109.611261 meters # Minimum depth: 735.481355 meters looking forward 100.000000 meters along route # Maximum depth: 739.675228 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.481355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340723; longitude = -118.136486; captureRadius = 10; duration = 219; initialDepth = 685.886206; finalDepth = 685.481355; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.172383 # Actual altitude: 51.172383 # Commanded vehicle depth: 685.481355 # Seafloor depth: -736.653738 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.69; 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 = 204.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 109.611711 meters # Minimum depth: 735.886206 meters looking forward 100.000000 meters along route # Maximum depth: 741.710386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.886206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340317; longitude = -118.137560; captureRadius = 10; duration = 219; initialDepth = 689.837374; finalDepth = 685.886206; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.172383 # Actual altitude: 51.172383 # Commanded vehicle depth: 685.886206 # Seafloor depth: -735.886206 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.69; 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 = 204.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 109.612161 meters # Minimum depth: 739.837374 meters looking forward 100.000000 meters along route # Maximum depth: 741.785195 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.837374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339911; longitude = -118.138634; captureRadius = 10; duration = 219; initialDepth = 691.817625; finalDepth = 689.837374; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 689.837374 # Seafloor depth: -739.837374 # behavior reson { duration = RESON_DURATION; 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 109.612612 meters # Minimum depth: 741.817625 meters looking forward 100.000000 meters along route # Maximum depth: 743.077773 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.817625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339506; longitude = -118.139708; captureRadius = 10; duration = 219; initialDepth = 687.120277; finalDepth = 691.817625; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 691.817625 # Seafloor depth: -741.817625 # behavior reson { duration = RESON_DURATION; 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 109.613062 meters # Minimum depth: 737.120277 meters looking forward 100.000000 meters along route # Maximum depth: 741.579773 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.120277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339100; longitude = -118.140782; captureRadius = 10; duration = 219; initialDepth = 687.714186; finalDepth = 687.120277; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4594960000001 # Actual altitude: 54.4594960000001 # Commanded vehicle depth: 687.120277 # Seafloor depth: -741.579773 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 217.84; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.78; MB_Bottom_Detect_Filter_Max_Range = 217.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 114.311007 meters # Minimum depth: 737.714186 meters looking forward 100.000000 meters along route # Maximum depth: 744.430738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.714186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338694; longitude = -118.141856; captureRadius = 10; duration = 228; initialDepth = 688.891724; finalDepth = 687.714186; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.4594960000001 # Actual altitude: 54.4594960000001 # Commanded vehicle depth: 687.714186 # Seafloor depth: -737.921723 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 217.84; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.78; MB_Bottom_Detect_Filter_Max_Range = 217.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.84; 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 149.959081 meters # Minimum depth: 738.891724 meters looking forward 100.000000 meters along route # Maximum depth: 744.661702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.891724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338271; longitude = -118.142976; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 688.827838; finalDepth = 688.891724; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50.207537 # Actual altitude: 50.207537 # Commanded vehicle depth: 688.891724 # Seafloor depth: -738.891724 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 200.83; 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 = 200.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 128.955712 meters # Minimum depth: 738.827838 meters looking forward 100.000000 meters along route # Maximum depth: 741.331154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.827838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337038; longitude = -118.142314; captureRadius = 10; duration = 257; # abortOnTimeout = True; initialDepth = 686.254044; finalDepth = 688.827838; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7248509999999 # Actual altitude: 51.7248509999999 # Commanded vehicle depth: 688.827838 # Seafloor depth: -740.552689 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.90; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 110.304850 meters # Minimum depth: 736.254044 meters looking forward 100.000000 meters along route # Maximum depth: 738.609729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.254044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337515; longitude = -118.141051; captureRadius = 10; duration = 220; initialDepth = 685.873782; finalDepth = 686.254044; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7248509999999 # Actual altitude: 51.7248509999999 # Commanded vehicle depth: 686.254044 # Seafloor depth: -736.610360 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.90; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 108.923230 meters # Minimum depth: 735.873782 meters looking forward 100.000000 meters along route # Maximum depth: 742.855940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.873782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337924; longitude = -118.139970; captureRadius = 10; duration = 217; initialDepth = 690.681918; finalDepth = 685.873782; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.982398 # Actual altitude: 50.982398 # Commanded vehicle depth: 685.873782 # Seafloor depth: -736.856180 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.93; 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 = 203.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 109.613364 meters # Minimum depth: 740.681918 meters looking forward 100.000000 meters along route # Maximum depth: 743.138953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.681918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338327; longitude = -118.138903; captureRadius = 10; duration = 219; initialDepth = 690.690033; finalDepth = 690.681918; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.457035 # Actual altitude: 52.457035 # Commanded vehicle depth: 690.681918 # Seafloor depth: -743.138953 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.83; 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 = 209.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 109.612915 meters # Minimum depth: 740.690033 meters looking forward 100.000000 meters along route # Maximum depth: 742.422622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.690033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338733; longitude = -118.137829; captureRadius = 10; duration = 219; initialDepth = 686.902399; finalDepth = 690.690033; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.457035 # Actual altitude: 52.457035 # Commanded vehicle depth: 690.690033 # Seafloor depth: -740.690033 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.83; 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 = 209.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 109.612464 meters # Minimum depth: 736.902399 meters looking forward 100.000000 meters along route # Maximum depth: 744.864562 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.902399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339138; longitude = -118.136755; captureRadius = 10; duration = 219; initialDepth = 685.262184; finalDepth = 686.902399; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.4010440000001 # Actual altitude: 56.4010440000001 # Commanded vehicle depth: 686.902399 # Seafloor depth: -743.303443 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 225.60; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.56; MB_Bottom_Detect_Filter_Max_Range = 225.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 109.612014 meters # Minimum depth: 735.262184 meters looking forward 100.000000 meters along route # Maximum depth: 740.991357 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.262184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339544; longitude = -118.135681; captureRadius = 10; duration = 219; initialDepth = 688.380947; finalDepth = 685.262184; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.4010440000001 # Actual altitude: 56.4010440000001 # Commanded vehicle depth: 685.262184 # Seafloor depth: -736.502487 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 225.60; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.56; MB_Bottom_Detect_Filter_Max_Range = 225.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 109.611564 meters # Minimum depth: 738.380947 meters looking forward 100.000000 meters along route # Maximum depth: 739.166255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.380947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339950; longitude = -118.134607; captureRadius = 10; duration = 219; initialDepth = 688.393597; finalDepth = 688.380947; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2403029999999 # Actual altitude: 51.2403029999999 # Commanded vehicle depth: 688.380947 # Seafloor depth: -739.166255 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.96; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 204.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 109.611114 meters # Minimum depth: 738.393597 meters looking forward 100.000000 meters along route # Maximum depth: 743.416748 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.393597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340356; longitude = -118.133533; captureRadius = 10; duration = 219; initialDepth = 696.021961; finalDepth = 688.393597; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.785308 # Actual altitude: 50.785308 # Commanded vehicle depth: 688.393597 # Seafloor depth: -738.393597 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.14; 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 = 203.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 109.610664 meters # Minimum depth: 746.021961 meters looking forward 100.000000 meters along route # Maximum depth: 762.330416 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.021961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340762; longitude = -118.132459; captureRadius = 10; duration = 219; initialDepth = 713.466282; finalDepth = 696.021961; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 696.021961 # Seafloor depth: -746.021961 # behavior reson { duration = RESON_DURATION; 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 109.610213 meters # Minimum depth: 763.466282 meters looking forward 100.000000 meters along route # Maximum depth: 773.763670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.466282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341167; longitude = -118.131385; captureRadius = 10; duration = 219; initialDepth = 723.466931; finalDepth = 713.466282; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 713.466282 # Seafloor depth: -763.466282 # behavior reson { duration = RESON_DURATION; 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 109.609764 meters # Minimum depth: 773.466931 meters looking forward 100.000000 meters along route # Maximum depth: 795.656205 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.466931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341573; longitude = -118.130311; captureRadius = 10; duration = 219; initialDepth = 745.636047; finalDepth = 723.466931; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 723.466931 # Seafloor depth: -773.466931 # behavior reson { duration = RESON_DURATION; 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 109.609314 meters # Minimum depth: 795.636047 meters looking forward 100.000000 meters along route # Maximum depth: 812.470408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.636047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341979; longitude = -118.129237; captureRadius = 10; duration = 219; initialDepth = 756.758915; finalDepth = 745.636047; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 745.636047 # Seafloor depth: -795.636047 # behavior reson { duration = RESON_DURATION; 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 109.608863 meters # Minimum depth: 806.758915 meters looking forward 100.000000 meters along route # Maximum depth: 809.382908 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.758915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342385; longitude = -118.128163; captureRadius = 10; duration = 219; initialDepth = 756.211849; finalDepth = 756.758915; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.623993 # Actual altitude: 52.623993 # Commanded vehicle depth: 756.758915 # Seafloor depth: -809.382908 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 210.50; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.05; MB_Bottom_Detect_Filter_Max_Range = 210.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 109.608414 meters # Minimum depth: 806.211849 meters looking forward 100.000000 meters along route # Maximum depth: 809.095797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.211849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342790; longitude = -118.127089; captureRadius = 10; duration = 219; initialDepth = 751.688458; finalDepth = 756.211849; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.623993 # Actual altitude: 52.623993 # Commanded vehicle depth: 756.211849 # Seafloor depth: -806.211849 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 210.50; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.05; MB_Bottom_Detect_Filter_Max_Range = 210.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 109.607964 meters # Minimum depth: 801.688458 meters looking forward 100.000000 meters along route # Maximum depth: 807.857681 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.688458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343196; longitude = -118.126015; captureRadius = 10; duration = 219; initialDepth = 750.238904; finalDepth = 751.688458; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.169223 # Actual altitude: 56.169223 # Commanded vehicle depth: 751.688458 # Seafloor depth: -807.857681 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 224.68; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.47; MB_Bottom_Detect_Filter_Max_Range = 224.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 109.607514 meters # Minimum depth: 800.238904 meters looking forward 100.000000 meters along route # Maximum depth: 800.899542 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.238904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343602; longitude = -118.124941; captureRadius = 10; duration = 219; initialDepth = 749.938714; finalDepth = 750.238904; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.169223 # Actual altitude: 56.169223 # Commanded vehicle depth: 750.238904 # Seafloor depth: -800.899542 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 224.68; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.47; MB_Bottom_Detect_Filter_Max_Range = 224.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 109.607064 meters # Minimum depth: 799.938714 meters looking forward 100.000000 meters along route # Maximum depth: 801.690572 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 749.938714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344008; longitude = -118.123867; captureRadius = 10; duration = 219; initialDepth = 752.266803; finalDepth = 749.938714; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6606379999999 # Actual altitude: 50.6606379999999 # Commanded vehicle depth: 749.938714 # Seafloor depth: -799.969661 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.64; 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 = 202.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 109.606614 meters # Minimum depth: 802.266803 meters looking forward 100.000000 meters along route # Maximum depth: 803.122201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.266803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344413; longitude = -118.122793; captureRadius = 10; duration = 219; initialDepth = 752.637774; finalDepth = 752.266803; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.030947 # Actual altitude: 50.030947 # Commanded vehicle depth: 752.266803 # Seafloor depth: -802.266803 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.12; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 109.606164 meters # Minimum depth: 802.637774 meters looking forward 100.000000 meters along route # Maximum depth: 803.085176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.637774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344819; longitude = -118.121719; captureRadius = 10; duration = 219; initialDepth = 751.645659; finalDepth = 752.637774; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.447402 # Actual altitude: 50.447402 # Commanded vehicle depth: 752.637774 # Seafloor depth: -803.085176 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.79; 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 = 201.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 109.605715 meters # Minimum depth: 801.645659 meters looking forward 100.000000 meters along route # Maximum depth: 802.527170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.645659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345225; longitude = -118.120645; captureRadius = 10; duration = 219; initialDepth = 749.913527; finalDepth = 751.645659; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8815109999999 # Actual altitude: 50.8815109999999 # Commanded vehicle depth: 751.645659 # Seafloor depth: -802.527170 # behavior reson { duration = RESON_DURATION; 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 21 # Segment length 107.296705 meters # Minimum depth: 799.913527 meters looking forward 100.000000 meters along route # Maximum depth: 801.284281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 749.913527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345631; longitude = -118.119571; captureRadius = 10; duration = 214; initialDepth = 749.561523; finalDepth = 749.913527; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.3707539999999 # Actual altitude: 51.3707539999999 # Commanded vehicle depth: 749.913527 # Seafloor depth: -801.284281 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 205.48; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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 150.019019 meters # Minimum depth: 799.561523 meters looking forward 100.000000 meters along route # Maximum depth: 802.267988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 749.561523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346028; longitude = -118.118520; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 752.579102; finalDepth = 749.561523; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 51.3707539999999 # Actual altitude: 51.3707539999999 # Commanded vehicle depth: 749.561523 # Seafloor depth: -799.561523 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 205.48; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 119.956076 meters # Minimum depth: 802.579102 meters looking forward 100.000000 meters along route # Maximum depth: 804.308184 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.579102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344794; longitude = -118.117859; captureRadius = 10; duration = 239; # abortOnTimeout = True; initialDepth = 754.377165; finalDepth = 752.579102; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 752.579102 # Seafloor depth: -802.579102 # behavior reson { duration = RESON_DURATION; 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 109.607807 meters # Minimum depth: 804.377165 meters looking forward 100.000000 meters along route # Maximum depth: 805.472962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.377165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344350; longitude = -118.119034; captureRadius = 10; duration = 219; initialDepth = 755.780135; finalDepth = 754.377165; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 754.377165 # Seafloor depth: -804.377165 # behavior reson { duration = RESON_DURATION; 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 109.608258 meters # Minimum depth: 805.780135 meters looking forward 100.000000 meters along route # Maximum depth: 806.161957 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.780135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343944; longitude = -118.120108; captureRadius = 10; duration = 219; initialDepth = 751.372582; finalDepth = 755.780135; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.003458 # Actual altitude: 50.003458 # Commanded vehicle depth: 755.780135 # Seafloor depth: -805.783593 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.01; 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 = 200.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 109.608707 meters # Minimum depth: 801.372582 meters looking forward 100.000000 meters along route # Maximum depth: 805.680811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.372582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343538; longitude = -118.121182; captureRadius = 10; duration = 219; initialDepth = 751.395912; finalDepth = 751.372582; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.308229 # Actual altitude: 54.308229 # Commanded vehicle depth: 751.372582 # Seafloor depth: -805.680811 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 217.23; 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 = 217.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 109.609157 meters # Minimum depth: 801.395912 meters looking forward 100.000000 meters along route # Maximum depth: 804.120958 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.395912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343133; longitude = -118.122256; captureRadius = 10; duration = 219; initialDepth = 754.562039; finalDepth = 751.395912; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.308229 # Actual altitude: 54.308229 # Commanded vehicle depth: 751.395912 # Seafloor depth: -801.561935 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 217.23; 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 = 217.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 109.609607 meters # Minimum depth: 804.562039 meters looking forward 100.000000 meters along route # Maximum depth: 807.549049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.562039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342727; longitude = -118.123330; captureRadius = 10; duration = 219; initialDepth = 757.067831; finalDepth = 754.562039; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.166023 # Actual altitude: 50.166023 # Commanded vehicle depth: 754.562039 # Seafloor depth: -804.562039 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.66; 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 = 200.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 109.610057 meters # Minimum depth: 807.067831 meters looking forward 100.000000 meters along route # Maximum depth: 808.233334 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.067831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342321; longitude = -118.124404; captureRadius = 10; duration = 219; initialDepth = 757.102655; finalDepth = 757.067831; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1655030000001 # Actual altitude: 51.1655030000001 # Commanded vehicle depth: 757.067831 # Seafloor depth: -808.233334 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.66; 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 = 204.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 109.610507 meters # Minimum depth: 807.102655 meters looking forward 100.000000 meters along route # Maximum depth: 810.730418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.102655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341915; longitude = -118.125478; captureRadius = 10; duration = 219; initialDepth = 739.365688; finalDepth = 757.102655; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1655030000001 # Actual altitude: 51.1655030000001 # Commanded vehicle depth: 757.102655 # Seafloor depth: -807.102655 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.66; 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 = 204.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 109.610957 meters # Minimum depth: 789.365688 meters looking forward 100.000000 meters along route # Maximum depth: 805.150032 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.365688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341509; longitude = -118.126552; captureRadius = 10; duration = 219; initialDepth = 721.087503; finalDepth = 739.365688; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.86049 # Actual altitude: 63.86049 # Commanded vehicle depth: 739.365688 # Seafloor depth: -803.226178 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 255.44; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.54; MB_Bottom_Detect_Filter_Max_Range = 255.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 255.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 109.611407 meters # Minimum depth: 771.087503 meters looking forward 100.000000 meters along route # Maximum depth: 787.790101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.087503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341104; longitude = -118.127626; captureRadius = 10; duration = 219; initialDepth = 716.786750; finalDepth = 721.087503; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.7025980000001 # Actual altitude: 66.7025980000001 # Commanded vehicle depth: 721.087503 # Seafloor depth: -787.790101 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 266.81; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.68; MB_Bottom_Detect_Filter_Max_Range = 266.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 109.611856 meters # Minimum depth: 766.786750 meters looking forward 100.000000 meters along route # Maximum depth: 770.234349 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.786750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340698; longitude = -118.128700; captureRadius = 10; duration = 219; initialDepth = 710.314727; finalDepth = 716.786750; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.7025980000001 # Actual altitude: 66.7025980000001 # Commanded vehicle depth: 716.78675 # Seafloor depth: -770.234349 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 266.81; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.68; MB_Bottom_Detect_Filter_Max_Range = 266.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 109.612307 meters # Minimum depth: 760.314727 meters looking forward 100.000000 meters along route # Maximum depth: 767.436364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.314727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340292; longitude = -118.129774; captureRadius = 10; duration = 219; initialDepth = 695.489399; finalDepth = 710.314727; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1216370000001 # Actual altitude: 57.1216370000001 # Commanded vehicle depth: 710.314727 # Seafloor depth: -767.436364 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 228.49; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.85; MB_Bottom_Detect_Filter_Max_Range = 228.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 109.612757 meters # Minimum depth: 745.489399 meters looking forward 100.000000 meters along route # Maximum depth: 757.026037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.489399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339886; longitude = -118.130848; captureRadius = 10; duration = 219; initialDepth = 689.221040; finalDepth = 695.489399; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.5366379999999 # Actual altitude: 61.5366379999999 # Commanded vehicle depth: 695.489399 # Seafloor depth: -757.026037 # behavior reson { duration = RESON_DURATION; 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 during line 19 # Segment length 109.613207 meters # Minimum depth: 739.221040 meters looking forward 100.000000 meters along route # Maximum depth: 744.607558 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.221040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339480; longitude = -118.131922; captureRadius = 10; duration = 219; initialDepth = 689.557677; finalDepth = 689.221040; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.5366379999999 # Actual altitude: 61.5366379999999 # Commanded vehicle depth: 689.22104 # Seafloor depth: -744.607558 # behavior reson { duration = RESON_DURATION; 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 during line 19 # Segment length 109.613657 meters # Minimum depth: 739.557677 meters looking forward 100.000000 meters along route # Maximum depth: 741.262925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.557677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339075; longitude = -118.132996; captureRadius = 10; duration = 219; initialDepth = 688.470295; finalDepth = 689.557677; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.386518 # Actual altitude: 55.386518 # Commanded vehicle depth: 689.557677 # Seafloor depth: -739.557677 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 221.55; 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 = 221.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 109.614107 meters # Minimum depth: 738.470295 meters looking forward 100.000000 meters along route # Maximum depth: 741.059850 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.470295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338669; longitude = -118.134070; captureRadius = 10; duration = 219; initialDepth = 688.988727; finalDepth = 688.470295; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.589555 # Actual altitude: 52.589555 # Commanded vehicle depth: 688.470295 # Seafloor depth: -741.059850 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 210.36; 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 = 210.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 109.614557 meters # Minimum depth: 738.988727 meters looking forward 100.000000 meters along route # Maximum depth: 744.673830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.988727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338263; longitude = -118.135144; captureRadius = 10; duration = 219; initialDepth = 691.989954; finalDepth = 688.988727; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.589555 # Actual altitude: 52.589555 # Commanded vehicle depth: 688.988727 # Seafloor depth: -739.227365 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 210.36; 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 = 210.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 109.615007 meters # Minimum depth: 741.989954 meters looking forward 100.000000 meters along route # Maximum depth: 744.123225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.989954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337857; longitude = -118.136218; captureRadius = 10; duration = 219; initialDepth = 690.923145; finalDepth = 691.989954; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.133271 # Actual altitude: 52.133271 # Commanded vehicle depth: 691.989954 # Seafloor depth: -744.123225 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.53; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 109.615458 meters # Minimum depth: 740.923145 meters looking forward 100.000000 meters along route # Maximum depth: 745.592516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.923145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337452; longitude = -118.137292; captureRadius = 10; duration = 219; initialDepth = 683.988198; finalDepth = 690.923145; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6501940000001 # Actual altitude: 53.6501940000001 # Commanded vehicle depth: 690.923145 # Seafloor depth: -744.573339 # behavior reson { duration = RESON_DURATION; 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 19 # Segment length 109.615907 meters # Minimum depth: 733.988198 meters looking forward 100.000000 meters along route # Maximum depth: 738.115542 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.988198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337046; longitude = -118.138366; captureRadius = 10; duration = 219; initialDepth = 683.194116; finalDepth = 683.988198; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.127344 # Actual altitude: 54.127344 # Commanded vehicle depth: 683.988198 # Seafloor depth: -738.115542 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 216.51; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.65; MB_Bottom_Detect_Filter_Max_Range = 216.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 109.616358 meters # Minimum depth: 733.194116 meters looking forward 100.000000 meters along route # Maximum depth: 738.284864 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.194116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336640; longitude = -118.139440; captureRadius = 10; duration = 219; initialDepth = 684.414569; finalDepth = 683.194116; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.127344 # Actual altitude: 54.127344 # Commanded vehicle depth: 683.194116 # Seafloor depth: -733.194116 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 216.51; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.65; MB_Bottom_Detect_Filter_Max_Range = 216.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 116.197633 meters # Minimum depth: 734.414569 meters looking forward 100.000000 meters along route # Maximum depth: 739.016962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.414569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336234; longitude = -118.140514; captureRadius = 10; duration = 232; initialDepth = 686.816772; finalDepth = 684.414569; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.0438819999999 # Actual altitude: 54.0438819999999 # Commanded vehicle depth: 684.414569 # Seafloor depth: -738.458451 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 216.18; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 149.921480 meters # Minimum depth: 736.816772 meters looking forward 100.000000 meters along route # Maximum depth: 746.915291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.816772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335804; longitude = -118.141652; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 691.499248; finalDepth = 686.816772; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 54.0438819999999 # Actual altitude: 54.0438819999999 # Commanded vehicle depth: 686.816772 # Seafloor depth: -738.298340 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 216.18; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 130.943942 meters # Minimum depth: 741.499248 meters looking forward 100.000000 meters along route # Maximum depth: 746.114001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.499248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334571; longitude = -118.140991; captureRadius = 10; duration = 261; # abortOnTimeout = True; initialDepth = 691.589376; finalDepth = 691.499248; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.363881 # Actual altitude: 53.363881 # Commanded vehicle depth: 691.499248 # Seafloor depth: -744.863129 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 213.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.35; MB_Bottom_Detect_Filter_Max_Range = 213.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.616784 meters # Minimum depth: 741.589376 meters looking forward 100.000000 meters along route # Maximum depth: 743.101767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.589376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335056; longitude = -118.139708; captureRadius = 10; duration = 219; initialDepth = 687.506415; finalDepth = 691.589376; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.363881 # Actual altitude: 53.363881 # Commanded vehicle depth: 691.589376 # Seafloor depth: -741.764128 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 213.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.35; MB_Bottom_Detect_Filter_Max_Range = 213.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 109.616334 meters # Minimum depth: 737.506415 meters looking forward 100.000000 meters along route # Maximum depth: 743.776432 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.506415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335461; longitude = -118.138634; captureRadius = 10; duration = 219; initialDepth = 687.370937; finalDepth = 687.506415; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.818517 # Actual altitude: 53.818517 # Commanded vehicle depth: 687.506415 # Seafloor depth: -741.324932 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 215.27; 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 = 215.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 109.615885 meters # Minimum depth: 737.370937 meters looking forward 100.000000 meters along route # Maximum depth: 743.851526 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.370937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335867; longitude = -118.137560; captureRadius = 10; duration = 219; initialDepth = 691.336646; finalDepth = 687.370937; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.818517 # Actual altitude: 53.818517 # Commanded vehicle depth: 687.370937 # Seafloor depth: -737.370937 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 215.27; 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 = 215.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 109.615434 meters # Minimum depth: 741.336646 meters looking forward 100.000000 meters along route # Maximum depth: 745.869239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.336646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336273; longitude = -118.136486; captureRadius = 10; duration = 219; initialDepth = 693.127490; finalDepth = 691.336646; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8121560000001 # Actual altitude: 52.8121560000001 # Commanded vehicle depth: 691.336646 # Seafloor depth: -744.148802 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 211.25; 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 = 211.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 118.706667 meters # Minimum depth: 743.127490 meters looking forward 100.000000 meters along route # Maximum depth: 745.041807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.127490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336679; longitude = -118.135412; captureRadius = 10; duration = 237; initialDepth = 688.470855; finalDepth = 693.127490; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8121560000001 # Actual altitude: 52.8121560000001 # Commanded vehicle depth: 693.12749 # Seafloor depth: -743.670249 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 211.25; 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 = 211.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.522851 meters # Minimum depth: 738.470855 meters looking forward 100.000000 meters along route # Maximum depth: 742.671454 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.470855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337118; longitude = -118.134249; captureRadius = 10; duration = 201; initialDepth = 688.255341; finalDepth = 688.470855; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.200599 # Actual altitude: 54.200599 # Commanded vehicle depth: 688.470855 # Seafloor depth: -742.671454 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 216.80; 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 = 216.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 117.065753 meters # Minimum depth: 738.255341 meters looking forward 100.000000 meters along route # Maximum depth: 742.934671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.255341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337490; longitude = -118.133264; captureRadius = 10; duration = 234; initialDepth = 691.816335; finalDepth = 688.255341; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.200599 # Actual altitude: 54.200599 # Commanded vehicle depth: 688.255341 # Seafloor depth: -738.255341 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 216.80; 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 = 216.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 102.161964 meters # Minimum depth: 741.816335 meters looking forward 100.000000 meters along route # Maximum depth: 744.473115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.816335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337924; longitude = -118.132117; captureRadius = 10; duration = 204; initialDepth = 696.127114; finalDepth = 691.816335; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 691.816335 # Seafloor depth: -741.816335 # behavior reson { duration = RESON_DURATION; 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 115.424865 meters # Minimum depth: 746.127114 meters looking forward 100.000000 meters along route # Maximum depth: 752.613380 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.127114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338302; longitude = -118.131116; captureRadius = 10; duration = 230; initialDepth = 703.175001; finalDepth = 696.127114; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 696.127114 # Seafloor depth: -746.127114 # behavior reson { duration = RESON_DURATION; 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 103.801053 meters # Minimum depth: 753.175001 meters looking forward 100.000000 meters along route # Maximum depth: 761.667712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.175001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338729; longitude = -118.129986; captureRadius = 10; duration = 207; initialDepth = 713.882624; finalDepth = 703.175001; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 703.175001 # Seafloor depth: -753.175001 # behavior reson { duration = RESON_DURATION; 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 113.784004 meters # Minimum depth: 763.882624 meters looking forward 100.000000 meters along route # Maximum depth: 767.470236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.882624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339113; longitude = -118.128968; captureRadius = 10; duration = 227; initialDepth = 716.440075; finalDepth = 713.882624; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 713.882624 # Seafloor depth: -763.882624 # behavior reson { duration = RESON_DURATION; 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 105.440113 meters # Minimum depth: 766.440075 meters looking forward 100.000000 meters along route # Maximum depth: 767.445663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.440075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339535; longitude = -118.127854; captureRadius = 10; duration = 210; initialDepth = 715.094746; finalDepth = 716.440075; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.005588 # Actual altitude: 51.005588 # Commanded vehicle depth: 716.440075 # Seafloor depth: -767.445663 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.02; 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 = 204.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 112.143171 meters # Minimum depth: 765.094746 meters looking forward 100.000000 meters along route # Maximum depth: 777.314648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.094746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339925; longitude = -118.126821; captureRadius = 10; duration = 224; initialDepth = 728.534632; finalDepth = 715.094746; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.138909 # Actual altitude: 51.138909 # Commanded vehicle depth: 715.094746 # Seafloor depth: -766.233655 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.56; 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 = 204.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.079147 meters # Minimum depth: 778.534632 meters looking forward 100.000000 meters along route # Maximum depth: 802.157280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.534632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340340; longitude = -118.125722; captureRadius = 10; duration = 214; initialDepth = 751.731470; finalDepth = 728.534632; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.138909 # Actual altitude: 51.138909 # Commanded vehicle depth: 728.534632 # Seafloor depth: -778.534632 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.56; 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 = 204.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 110.502364 meters # Minimum depth: 801.731470 meters looking forward 100.000000 meters along route # Maximum depth: 806.487049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.731470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340737; longitude = -118.124673; captureRadius = 10; duration = 221; initialDepth = 756.513485; finalDepth = 751.731470; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 751.73147 # Seafloor depth: -801.731470 # behavior reson { duration = RESON_DURATION; 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 108.718155 meters # Minimum depth: 806.513485 meters looking forward 100.000000 meters along route # Maximum depth: 809.479238 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.513485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341146; longitude = -118.123590; captureRadius = 10; duration = 217; initialDepth = 759.775472; finalDepth = 756.513485; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 756.513485 # Seafloor depth: -806.513485 # behavior reson { duration = RESON_DURATION; 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 109.609584 meters # Minimum depth: 809.775472 meters looking forward 100.000000 meters along route # Maximum depth: 813.984625 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.775472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341548; longitude = -118.122525; captureRadius = 10; duration = 219; initialDepth = 763.683062; finalDepth = 759.775472; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 759.775472 # Seafloor depth: -809.775472 # behavior reson { duration = RESON_DURATION; 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 109.609135 meters # Minimum depth: 813.683062 meters looking forward 100.000000 meters along route # Maximum depth: 814.542625 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 763.683062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341954; longitude = -118.121451; captureRadius = 10; duration = 219; initialDepth = 759.141598; finalDepth = 763.683062; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.331451 # Actual altitude: 50.331451 # Commanded vehicle depth: 763.683062 # Seafloor depth: -814.014513 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.33; 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 = 201.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 109.608685 meters # Minimum depth: 809.141598 meters looking forward 100.000000 meters along route # Maximum depth: 812.089098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.141598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342360; longitude = -118.120377; captureRadius = 10; duration = 219; initialDepth = 757.795776; finalDepth = 759.141598; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9475 # Actual altitude: 52.9475 # Commanded vehicle depth: 759.141598 # Seafloor depth: -812.089098 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 211.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 109.608235 meters # Minimum depth: 807.795776 meters looking forward 100.000000 meters along route # Maximum depth: 809.098161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.795776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342765; longitude = -118.119303; captureRadius = 10; duration = 219; initialDepth = 756.069891; finalDepth = 757.795776; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9475 # Actual altitude: 52.9475 # Commanded vehicle depth: 757.795776 # Seafloor depth: -809.098161 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 211.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 105.314088 meters # Minimum depth: 806.069891 meters looking forward 100.000000 meters along route # Maximum depth: 807.386258 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.069891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343171; longitude = -118.118229; captureRadius = 10; duration = 210; initialDepth = 756.138184; finalDepth = 756.069891; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.316367 # Actual altitude: 51.316367 # Commanded vehicle depth: 756.069891 # Seafloor depth: -807.386258 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; 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; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 150.019634 meters # Minimum depth: 806.138184 meters looking forward 100.000000 meters along route # Maximum depth: 808.706018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.138184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343561; longitude = -118.117197; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 758.999512; finalDepth = 756.138184; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 51.316367 # Actual altitude: 51.316367 # Commanded vehicle depth: 756.138184 # Seafloor depth: -806.138184 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; 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 to get to end of line 15 # Segment length 117.973713 meters # Minimum depth: 808.999512 meters looking forward 100.000000 meters along route # Maximum depth: 810.742589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.999512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342327; longitude = -118.116536; captureRadius = 10; duration = 235; # abortOnTimeout = True; initialDepth = 760.920896; finalDepth = 758.999512; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 758.999512 # Seafloor depth: -808.999512 # behavior reson { duration = RESON_DURATION; 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 109.610328 meters # Minimum depth: 810.920896 meters looking forward 100.000000 meters along route # Maximum depth: 812.055517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.920896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341890; longitude = -118.117692; captureRadius = 10; duration = 219; initialDepth = 762.470048; finalDepth = 760.920896; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 760.920896 # Seafloor depth: -810.920896 # behavior reson { duration = RESON_DURATION; 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 109.610778 meters # Minimum depth: 812.470048 meters looking forward 100.000000 meters along route # Maximum depth: 813.969529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 762.470048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341484; longitude = -118.118766; captureRadius = 10; duration = 219; initialDepth = 760.079794; finalDepth = 762.470048; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 762.470048 # Seafloor depth: -812.470048 # behavior reson { duration = RESON_DURATION; 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 109.611228 meters # Minimum depth: 810.079794 meters looking forward 100.000000 meters along route # Maximum depth: 814.429926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.079794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341079; longitude = -118.119840; captureRadius = 10; duration = 219; initialDepth = 757.410960; finalDepth = 760.079794; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.350132 # Actual altitude: 54.350132 # Commanded vehicle depth: 760.079794 # Seafloor depth: -814.429926 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 217.40; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.74; MB_Bottom_Detect_Filter_Max_Range = 217.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 109.611677 meters # Minimum depth: 807.410960 meters looking forward 100.000000 meters along route # Maximum depth: 808.904933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.410960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340673; longitude = -118.120914; captureRadius = 10; duration = 219; initialDepth = 753.462567; finalDepth = 757.410960; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.350132 # Actual altitude: 54.350132 # Commanded vehicle depth: 757.41096 # Seafloor depth: -808.904933 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 217.40; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.74; MB_Bottom_Detect_Filter_Max_Range = 217.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 109.612127 meters # Minimum depth: 803.462567 meters looking forward 100.000000 meters along route # Maximum depth: 807.522076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.462567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340267; longitude = -118.121988; captureRadius = 10; duration = 219; initialDepth = 725.543227; finalDepth = 753.462567; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7009429999999 # Actual altitude: 53.7009429999999 # Commanded vehicle depth: 753.462567 # Seafloor depth: -807.163510 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 214.80; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.48; MB_Bottom_Detect_Filter_Max_Range = 214.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 109.612577 meters # Minimum depth: 775.543227 meters looking forward 100.000000 meters along route # Maximum depth: 794.542019 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.543227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339861; longitude = -118.123062; captureRadius = 10; duration = 219; initialDepth = 718.275293; finalDepth = 725.543227; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.072749 # Actual altitude: 67.072749 # Commanded vehicle depth: 725.543227 # Seafloor depth: -792.615976 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 268.29; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.83; MB_Bottom_Detect_Filter_Max_Range = 268.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 109.613027 meters # Minimum depth: 768.275293 meters looking forward 100.000000 meters along route # Maximum depth: 776.134195 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.275293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339456; longitude = -118.124136; captureRadius = 10; duration = 219; initialDepth = 717.348676; finalDepth = 718.275293; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.072749 # Actual altitude: 67.072749 # Commanded vehicle depth: 718.275293 # Seafloor depth: -776.134195 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 268.29; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.83; MB_Bottom_Detect_Filter_Max_Range = 268.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 109.613477 meters # Minimum depth: 767.348676 meters looking forward 100.000000 meters along route # Maximum depth: 768.952363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.348676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339050; longitude = -118.125210; captureRadius = 10; duration = 219; initialDepth = 715.898087; finalDepth = 717.348676; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.8589019999999 # Actual altitude: 57.8589019999999 # Commanded vehicle depth: 717.348676 # Seafloor depth: -768.952363 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 231.44; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.14; MB_Bottom_Detect_Filter_Max_Range = 231.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 109.613927 meters # Minimum depth: 765.898087 meters looking forward 100.000000 meters along route # Maximum depth: 768.066642 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.898087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338644; longitude = -118.126284; captureRadius = 10; duration = 219; initialDepth = 714.065987; finalDepth = 715.898087; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.603687 # Actual altitude: 51.603687 # Commanded vehicle depth: 715.898087 # Seafloor depth: -767.209158 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.41; 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 = 206.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 109.614377 meters # Minimum depth: 764.065987 meters looking forward 100.000000 meters along route # Maximum depth: 765.238513 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.065987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338238; longitude = -118.127358; captureRadius = 10; duration = 219; initialDepth = 704.029501; finalDepth = 714.065987; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.311071 # Actual altitude: 51.311071 # Commanded vehicle depth: 714.065987 # Seafloor depth: -764.927638 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.24; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 109.614827 meters # Minimum depth: 754.029501 meters looking forward 100.000000 meters along route # Maximum depth: 762.071833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.029501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337832; longitude = -118.128432; captureRadius = 10; duration = 219; initialDepth = 694.559885; finalDepth = 704.029501; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.042332 # Actual altitude: 58.042332 # Commanded vehicle depth: 704.029501 # Seafloor depth: -762.071833 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 232.17; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.22; MB_Bottom_Detect_Filter_Max_Range = 232.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 109.615276 meters # Minimum depth: 744.559885 meters looking forward 100.000000 meters along route # Maximum depth: 751.133330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.559885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337427; longitude = -118.129505; captureRadius = 10; duration = 219; initialDepth = 692.103933; finalDepth = 694.559885; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.042332 # Actual altitude: 58.042332 # Commanded vehicle depth: 694.559885 # Seafloor depth: -751.133330 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 232.17; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.22; MB_Bottom_Detect_Filter_Max_Range = 232.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 118.737407 meters # Minimum depth: 742.103933 meters looking forward 100.000000 meters along route # Maximum depth: 744.308949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.103933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337021; longitude = -118.130579; captureRadius = 10; duration = 237; initialDepth = 689.507846; finalDepth = 692.103933; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.573445 # Actual altitude: 56.573445 # Commanded vehicle depth: 692.103933 # Seafloor depth: -744.308949 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 226.29; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.63; MB_Bottom_Detect_Filter_Max_Range = 226.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.494497 meters # Minimum depth: 739.507846 meters looking forward 100.000000 meters along route # Maximum depth: 743.323044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.507846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336581; longitude = -118.131743; captureRadius = 10; duration = 200; initialDepth = 690.955308; finalDepth = 689.507846; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.189164 # Actual altitude: 53.189164 # Commanded vehicle depth: 689.507846 # Seafloor depth: -742.697010 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 212.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 117.089251 meters # Minimum depth: 740.955308 meters looking forward 100.000000 meters along route # Maximum depth: 744.320557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.955308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336209; longitude = -118.132727; captureRadius = 10; duration = 234; initialDepth = 694.113048; finalDepth = 690.955308; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.189164 # Actual altitude: 53.189164 # Commanded vehicle depth: 690.955308 # Seafloor depth: -742.997766 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 212.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 102.144452 meters # Minimum depth: 744.113048 meters looking forward 100.000000 meters along route # Maximum depth: 744.936781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.113048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335776; longitude = -118.133875; captureRadius = 10; duration = 204; initialDepth = 687.573173; finalDepth = 694.113048; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.042458 # Actual altitude: 52.042458 # Commanded vehicle depth: 694.113048 # Seafloor depth: -744.376422 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.17; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 115.441069 meters # Minimum depth: 737.573173 meters looking forward 100.000000 meters along route # Maximum depth: 745.050569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.573173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335398; longitude = -118.134875; captureRadius = 10; duration = 230; initialDepth = 686.506162; finalDepth = 687.573173; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.477396 # Actual altitude: 57.477396 # Commanded vehicle depth: 687.573173 # Seafloor depth: -745.050569 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 229.91; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.99; MB_Bottom_Detect_Filter_Max_Range = 229.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 103.794435 meters # Minimum depth: 736.506162 meters looking forward 100.000000 meters along route # Maximum depth: 739.303505 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.506162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334970; longitude = -118.136006; captureRadius = 10; duration = 207; initialDepth = 688.962025; finalDepth = 686.506162; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.477396 # Actual altitude: 57.477396 # Commanded vehicle depth: 686.506162 # Seafloor depth: -737.142420 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 229.91; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.99; MB_Bottom_Detect_Filter_Max_Range = 229.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 113.792859 meters # Minimum depth: 738.962025 meters looking forward 100.000000 meters along route # Maximum depth: 743.525473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.962025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334586; longitude = -118.137023; captureRadius = 10; duration = 227; initialDepth = 687.288231; finalDepth = 688.962025; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1375079999999 # Actual altitude: 51.1375079999999 # Commanded vehicle depth: 688.962025 # Seafloor depth: -740.099533 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.55; 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 = 204.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 105.444446 meters # Minimum depth: 737.288231 meters looking forward 100.000000 meters along route # Maximum depth: 744.282945 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.288231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334165; longitude = -118.138138; captureRadius = 10; duration = 210; initialDepth = 690.186947; finalDepth = 687.288231; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.168038 # Actual altitude: 51.168038 # Commanded vehicle depth: 687.288231 # Seafloor depth: -738.456269 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.67; 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 = 204.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 118.185606 meters # Minimum depth: 740.186947 meters looking forward 100.000000 meters along route # Maximum depth: 749.432377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.186947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333774; longitude = -118.139171; captureRadius = 10; duration = 236; initialDepth = 691.778583; finalDepth = 690.186947; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.168038 # Actual altitude: 51.168038 # Commanded vehicle depth: 690.186947 # Seafloor depth: -740.186947 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 204.67; 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 = 204.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.67; 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 149.960314 meters # Minimum depth: 741.778583 meters looking forward 100.000000 meters along route # Maximum depth: 747.949509 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.778583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333337; longitude = -118.140329; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 692.286922; finalDepth = 691.778583; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 56.170926 # Actual altitude: 56.170926 # Commanded vehicle depth: 691.778583 # Seafloor depth: -747.949509 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 224.68; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.47; MB_Bottom_Detect_Filter_Max_Range = 224.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 132.829584 meters # Minimum depth: 742.286922 meters looking forward 100.000000 meters along route # Maximum depth: 751.326634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.286922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332104; longitude = -118.139667; captureRadius = 10; duration = 265; # abortOnTimeout = True; initialDepth = 687.295814; finalDepth = 692.286922; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.170926 # Actual altitude: 56.170926 # Commanded vehicle depth: 692.286922 # Seafloor depth: -745.011871 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 224.68; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.47; MB_Bottom_Detect_Filter_Max_Range = 224.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.618802 meters # Minimum depth: 737.295814 meters looking forward 100.000000 meters along route # Maximum depth: 746.481900 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.295814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332596; longitude = -118.138366; captureRadius = 10; duration = 219; initialDepth = 685.515491; finalDepth = 687.295814; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.695606 # Actual altitude: 56.695606 # Commanded vehicle depth: 687.295814 # Seafloor depth: -743.991420 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 226.78; 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 = 226.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 109.618352 meters # Minimum depth: 735.515491 meters looking forward 100.000000 meters along route # Maximum depth: 745.606283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.515491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333001; longitude = -118.137292; captureRadius = 10; duration = 219; initialDepth = 688.318801; finalDepth = 685.515491; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.6602 # Actual altitude: 57.6602 # Commanded vehicle depth: 685.515491 # Seafloor depth: -743.175691 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 230.64; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.06; MB_Bottom_Detect_Filter_Max_Range = 230.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 109.617902 meters # Minimum depth: 738.318801 meters looking forward 100.000000 meters along route # Maximum depth: 741.488233 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.318801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333407; longitude = -118.136218; captureRadius = 10; duration = 219; initialDepth = 687.830990; finalDepth = 688.318801; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.6602 # Actual altitude: 57.6602 # Commanded vehicle depth: 688.318801 # Seafloor depth: -741.488233 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 230.64; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.06; MB_Bottom_Detect_Filter_Max_Range = 230.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 109.617453 meters # Minimum depth: 737.830990 meters looking forward 100.000000 meters along route # Maximum depth: 742.805039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.830990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333813; longitude = -118.135144; captureRadius = 10; duration = 219; initialDepth = 694.568220; finalDepth = 687.830990; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.169432 # Actual altitude: 53.169432 # Commanded vehicle depth: 687.83099 # Seafloor depth: -739.998153 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 212.68; 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 = 212.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 109.617002 meters # Minimum depth: 744.568220 meters looking forward 100.000000 meters along route # Maximum depth: 745.485761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.568220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334219; longitude = -118.134070; captureRadius = 10; duration = 219; initialDepth = 694.532296; finalDepth = 694.568220; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.167163 # Actual altitude: 52.167163 # Commanded vehicle depth: 694.56822 # Seafloor depth: -744.568220 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.67; 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 = 208.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 109.616552 meters # Minimum depth: 744.532296 meters looking forward 100.000000 meters along route # Maximum depth: 746.242353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.532296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334624; longitude = -118.132996; captureRadius = 10; duration = 219; initialDepth = 692.314393; finalDepth = 694.532296; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3166580000001 # Actual altitude: 50.3166580000001 # Commanded vehicle depth: 694.532296 # Seafloor depth: -744.848954 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.27; 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 = 201.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 109.616102 meters # Minimum depth: 742.314393 meters looking forward 100.000000 meters along route # Maximum depth: 743.942824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.314393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335030; longitude = -118.131922; captureRadius = 10; duration = 219; initialDepth = 694.397327; finalDepth = 692.314393; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.33656 # Actual altitude: 51.33656 # Commanded vehicle depth: 692.314393 # Seafloor depth: -743.650953 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.35; 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 = 205.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 109.615652 meters # Minimum depth: 744.397327 meters looking forward 100.000000 meters along route # Maximum depth: 745.573958 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.397327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335436; longitude = -118.130848; captureRadius = 10; duration = 219; initialDepth = 695.013562; finalDepth = 694.397327; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.33656 # Actual altitude: 51.33656 # Commanded vehicle depth: 694.397327 # Seafloor depth: -745.573958 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 205.35; 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 = 205.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 109.615202 meters # Minimum depth: 745.013562 meters looking forward 100.000000 meters along route # Maximum depth: 750.266644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.013562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335842; longitude = -118.129774; captureRadius = 10; duration = 219; initialDepth = 703.558544; finalDepth = 695.013562; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1766309999999 # Actual altitude: 51.1766309999999 # Commanded vehicle depth: 695.013562 # Seafloor depth: -746.157627 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.71; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 109.614752 meters # Minimum depth: 753.558544 meters looking forward 100.000000 meters along route # Maximum depth: 762.365542 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.558544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336248; longitude = -118.128700; captureRadius = 10; duration = 219; initialDepth = 713.972905; finalDepth = 703.558544; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1440650000001 # Actual altitude: 51.1440650000001 # Commanded vehicle depth: 703.558544 # Seafloor depth: -753.558544 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.58; 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 = 204.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 109.614303 meters # Minimum depth: 763.972905 meters looking forward 100.000000 meters along route # Maximum depth: 767.718941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.972905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336653; longitude = -118.127626; captureRadius = 10; duration = 219; initialDepth = 718.426942; finalDepth = 713.972905; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 713.972905 # Seafloor depth: -763.972905 # behavior reson { duration = RESON_DURATION; 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 109.613852 meters # Minimum depth: 768.426942 meters looking forward 100.000000 meters along route # Maximum depth: 770.559673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.426942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337059; longitude = -118.126552; captureRadius = 10; duration = 219; initialDepth = 721.455976; finalDepth = 718.426942; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 718.426942 # Seafloor depth: -768.426942 # behavior reson { duration = RESON_DURATION; 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 109.613403 meters # Minimum depth: 771.455976 meters looking forward 100.000000 meters along route # Maximum depth: 771.856856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.455976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337465; longitude = -118.125478; captureRadius = 10; duration = 219; initialDepth = 721.223431; finalDepth = 721.455976; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 721.455976 # Seafloor depth: -771.455976 # behavior reson { duration = RESON_DURATION; 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 109.612952 meters # Minimum depth: 771.223431 meters looking forward 100.000000 meters along route # Maximum depth: 772.772995 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.223431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337871; longitude = -118.124404; captureRadius = 10; duration = 219; initialDepth = 719.618035; finalDepth = 721.223431; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.978795 # Actual altitude: 50.978795 # Commanded vehicle depth: 721.223431 # Seafloor depth: -772.202226 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.92; 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 = 203.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 109.612503 meters # Minimum depth: 769.618035 meters looking forward 100.000000 meters along route # Maximum depth: 773.107888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.618035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338276; longitude = -118.123330; captureRadius = 10; duration = 219; initialDepth = 729.348483; finalDepth = 719.618035; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.178074 # Actual altitude: 51.178074 # Commanded vehicle depth: 719.618035 # Seafloor depth: -770.796109 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.71; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 109.612053 meters # Minimum depth: 779.348483 meters looking forward 100.000000 meters along route # Maximum depth: 787.197902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.348483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338682; longitude = -118.122256; captureRadius = 10; duration = 219; initialDepth = 746.339716; finalDepth = 729.348483; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.178074 # Actual altitude: 51.178074 # Commanded vehicle depth: 729.348483 # Seafloor depth: -779.348483 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.71; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 109.611604 meters # Minimum depth: 796.339716 meters looking forward 100.000000 meters along route # Maximum depth: 809.941451 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 746.339716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339088; longitude = -118.121182; captureRadius = 10; duration = 219; initialDepth = 763.287326; finalDepth = 746.339716; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 746.339716 # Seafloor depth: -796.339716 # behavior reson { duration = RESON_DURATION; 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 109.611153 meters # Minimum depth: 813.287326 meters looking forward 100.000000 meters along route # Maximum depth: 818.722456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 763.287326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339494; longitude = -118.120108; captureRadius = 10; duration = 219; initialDepth = 763.758282; finalDepth = 763.287326; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 763.287326 # Seafloor depth: -813.287326 # behavior reson { duration = RESON_DURATION; 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 119.065891 meters # Minimum depth: 813.758282 meters looking forward 100.000000 meters along route # Maximum depth: 818.519794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 763.758282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339899; longitude = -118.119034; captureRadius = 10; duration = 238; initialDepth = 759.373601; finalDepth = 763.758282; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.761512 # Actual altitude: 54.761512 # Commanded vehicle depth: 763.758282 # Seafloor depth: -818.519794 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 219.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.90; MB_Bottom_Detect_Filter_Max_Range = 219.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.155068 meters # Minimum depth: 809.373601 meters looking forward 100.000000 meters along route # Maximum depth: 813.598512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.373601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340340; longitude = -118.117868; captureRadius = 10; duration = 200; initialDepth = 759.238447; finalDepth = 759.373601; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.761512 # Actual altitude: 54.761512 # Commanded vehicle depth: 759.373601 # Seafloor depth: -813.598512 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 219.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.90; MB_Bottom_Detect_Filter_Max_Range = 219.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 103.228845 meters # Minimum depth: 809.238447 meters looking forward 100.000000 meters along route # Maximum depth: 811.259300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.238447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340711; longitude = -118.116886; captureRadius = 10; duration = 206; initialDepth = 758.627089; finalDepth = 759.238447; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.224911 # Actual altitude: 54.224911 # Commanded vehicle depth: 759.238447 # Seafloor depth: -811.259300 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 216.90; 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 = 216.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.90; 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 149.957340 meters # Minimum depth: 808.627089 meters looking forward 100.000000 meters along route # Maximum depth: 808.961986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.627089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341093; longitude = -118.115875; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 757.037900; finalDepth = 758.627089; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 52.0208530000001 # Actual altitude: 52.0208530000001 # Commanded vehicle depth: 758.627089 # Seafloor depth: -808.929535 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; 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 to get to end of line 11 # Segment length 115.991259 meters # Minimum depth: 807.037900 meters looking forward 100.000000 meters along route # Maximum depth: 808.397609 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.037900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339860; longitude = -118.115213; captureRadius = 10; duration = 231; # abortOnTimeout = True; initialDepth = 756.063766; finalDepth = 757.037900; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.158069 # Actual altitude: 51.158069 # Commanded vehicle depth: 757.0379 # Seafloor depth: -808.195969 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.63; 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 = 204.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 116.948477 meters # Minimum depth: 806.063766 meters looking forward 100.000000 meters along route # Maximum depth: 807.934415 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.063766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339431; longitude = -118.116349; captureRadius = 10; duration = 233; initialDepth = 754.316875; finalDepth = 756.063766; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.158069 # Actual altitude: 51.158069 # Commanded vehicle depth: 756.063766 # Seafloor depth: -806.663206 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.63; 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 = 204.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.277670 meters # Minimum depth: 804.316875 meters looking forward 100.000000 meters along route # Maximum depth: 807.259769 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.316875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338998; longitude = -118.117495; captureRadius = 10; duration = 204; initialDepth = 738.103927; finalDepth = 754.316875; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.942894 # Actual altitude: 52.942894 # Commanded vehicle depth: 754.316875 # Seafloor depth: -807.259769 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 211.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 115.300350 meters # Minimum depth: 788.103927 meters looking forward 100.000000 meters along route # Maximum depth: 800.687795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.103927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338619; longitude = -118.118497; captureRadius = 10; duration = 230; initialDepth = 726.117391; finalDepth = 738.103927; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.5838680000001 # Actual altitude: 62.5838680000001 # Commanded vehicle depth: 738.103927 # Seafloor depth: -800.687795 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 250.34; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.03; MB_Bottom_Detect_Filter_Max_Range = 250.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 103.927595 meters # Minimum depth: 776.117391 meters looking forward 100.000000 meters along route # Maximum depth: 787.475360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.117391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338192; longitude = -118.119627; captureRadius = 10; duration = 207; initialDepth = 721.820690; finalDepth = 726.117391; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.5838680000001 # Actual altitude: 62.5838680000001 # Commanded vehicle depth: 726.117391 # Seafloor depth: -787.475360 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 250.34; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.03; MB_Bottom_Detect_Filter_Max_Range = 250.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 113.652196 meters # Minimum depth: 771.820690 meters looking forward 100.000000 meters along route # Maximum depth: 775.211322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.820690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337807; longitude = -118.120645; captureRadius = 10; duration = 227; initialDepth = 718.835615; finalDepth = 721.820690; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.357969 # Actual altitude: 61.357969 # Commanded vehicle depth: 721.82069 # Seafloor depth: -775.211322 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 245.43; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.54; MB_Bottom_Detect_Filter_Max_Range = 245.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.577549 meters # Minimum depth: 768.835615 meters looking forward 100.000000 meters along route # Maximum depth: 771.700086 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.835615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337387; longitude = -118.121759; captureRadius = 10; duration = 211; initialDepth = 719.519153; finalDepth = 718.835615; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.390632 # Actual altitude: 53.390632 # Commanded vehicle depth: 718.835615 # Seafloor depth: -771.700086 # behavior reson { duration = RESON_DURATION; 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 11 # Segment length 112.004014 meters # Minimum depth: 769.519153 meters looking forward 100.000000 meters along route # Maximum depth: 772.318100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.519153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336996; longitude = -118.122793; captureRadius = 10; duration = 224; initialDepth = 720.604349; finalDepth = 719.519153; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8644710000001 # Actual altitude: 52.8644710000001 # Commanded vehicle depth: 719.519153 # Seafloor depth: -769.519153 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 211.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.15; MB_Bottom_Detect_Filter_Max_Range = 211.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.227530 meters # Minimum depth: 770.604349 meters looking forward 100.000000 meters along route # Maximum depth: 773.557066 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.604349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336581; longitude = -118.123891; captureRadius = 10; duration = 214; initialDepth = 718.273027; finalDepth = 720.604349; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 720.604349 # Seafloor depth: -770.604349 # behavior reson { duration = RESON_DURATION; 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 110.355806 meters # Minimum depth: 768.273027 meters looking forward 100.000000 meters along route # Maximum depth: 770.715669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.273027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336184; longitude = -118.124941; captureRadius = 10; duration = 220; initialDepth = 715.550412; finalDepth = 718.273027; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4426420000001 # Actual altitude: 52.4426420000001 # Commanded vehicle depth: 718.273027 # Seafloor depth: -770.715669 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.77; 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 = 209.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 108.877537 meters # Minimum depth: 765.550412 meters looking forward 100.000000 meters along route # Maximum depth: 768.867683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.550412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335776; longitude = -118.126022; captureRadius = 10; duration = 217; initialDepth = 701.125353; finalDepth = 715.550412; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.317271 # Actual altitude: 53.317271 # Commanded vehicle depth: 715.550412 # Seafloor depth: -768.867683 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 213.27; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.33; MB_Bottom_Detect_Filter_Max_Range = 213.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 109.617347 meters # Minimum depth: 751.125353 meters looking forward 100.000000 meters along route # Maximum depth: 763.052678 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.125353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335373; longitude = -118.127089; captureRadius = 10; duration = 219; initialDepth = 696.331761; finalDepth = 701.125353; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.927325 # Actual altitude: 61.927325 # Commanded vehicle depth: 701.125353 # Seafloor depth: -763.052678 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 247.71; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.77; MB_Bottom_Detect_Filter_Max_Range = 247.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 109.617796 meters # Minimum depth: 746.331761 meters looking forward 100.000000 meters along route # Maximum depth: 751.032753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.331761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334967; longitude = -118.128163; captureRadius = 10; duration = 219; initialDepth = 695.669630; finalDepth = 696.331761; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.927325 # Actual altitude: 61.927325 # Commanded vehicle depth: 696.331761 # Seafloor depth: -751.032753 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 247.71; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.77; MB_Bottom_Detect_Filter_Max_Range = 247.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 109.618247 meters # Minimum depth: 745.669630 meters looking forward 100.000000 meters along route # Maximum depth: 747.364469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.669630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334561; longitude = -118.129237; captureRadius = 10; duration = 219; initialDepth = 693.982280; finalDepth = 695.669630; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7009919999999 # Actual altitude: 54.7009919999999 # Commanded vehicle depth: 695.66963 # Seafloor depth: -746.541135 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 218.80; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.88; MB_Bottom_Detect_Filter_Max_Range = 218.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 109.618696 meters # Minimum depth: 743.982280 meters looking forward 100.000000 meters along route # Maximum depth: 745.989088 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.982280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334155; longitude = -118.130311; captureRadius = 10; duration = 219; initialDepth = 696.338018; finalDepth = 693.982280; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0068080000001 # Actual altitude: 52.0068080000001 # Commanded vehicle depth: 693.98228 # Seafloor depth: -745.989088 # behavior reson { duration = RESON_DURATION; 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 11 # Segment length 109.619146 meters # Minimum depth: 746.338018 meters looking forward 100.000000 meters along route # Maximum depth: 747.876785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.338018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333750; longitude = -118.131385; captureRadius = 10; duration = 219; initialDepth = 692.285422; finalDepth = 696.338018; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0068080000001 # Actual altitude: 52.0068080000001 # Commanded vehicle depth: 696.338018 # Seafloor depth: -747.548730 # behavior reson { duration = RESON_DURATION; 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 11 # Segment length 109.619597 meters # Minimum depth: 742.285422 meters looking forward 100.000000 meters along route # Maximum depth: 747.800211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.285422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333344; longitude = -118.132459; captureRadius = 10; duration = 219; initialDepth = 688.127418; finalDepth = 692.285422; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.514789 # Actual altitude: 55.514789 # Commanded vehicle depth: 692.285422 # Seafloor depth: -747.800211 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 222.06; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.21; MB_Bottom_Detect_Filter_Max_Range = 222.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 109.620046 meters # Minimum depth: 738.127418 meters looking forward 100.000000 meters along route # Maximum depth: 747.136135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.127418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332938; longitude = -118.133533; captureRadius = 10; duration = 219; initialDepth = 690.787561; finalDepth = 688.127418; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.514789 # Actual altitude: 55.514789 # Commanded vehicle depth: 688.127418 # Seafloor depth: -741.884381 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 222.06; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.21; MB_Bottom_Detect_Filter_Max_Range = 222.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 109.620497 meters # Minimum depth: 740.787561 meters looking forward 100.000000 meters along route # Maximum depth: 747.379725 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.787561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332532; longitude = -118.134607; captureRadius = 10; duration = 219; initialDepth = 689.427417; finalDepth = 690.787561; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.592164 # Actual altitude: 56.592164 # Commanded vehicle depth: 690.787561 # Seafloor depth: -747.379725 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 226.37; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.64; MB_Bottom_Detect_Filter_Max_Range = 226.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 109.620946 meters # Minimum depth: 739.427417 meters looking forward 100.000000 meters along route # Maximum depth: 747.231491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.427417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332126; longitude = -118.135681; captureRadius = 10; duration = 219; initialDepth = 690.282781; finalDepth = 689.427417; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.592164 # Actual altitude: 56.592164 # Commanded vehicle depth: 689.427417 # Seafloor depth: -743.965584 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 226.37; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.64; MB_Bottom_Detect_Filter_Max_Range = 226.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 109.621397 meters # Minimum depth: 740.282781 meters looking forward 100.000000 meters along route # Maximum depth: 750.665165 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.282781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.331721; longitude = -118.136755; captureRadius = 10; duration = 219; initialDepth = 689.752009; finalDepth = 690.282781; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.538167 # Actual altitude: 54.538167 # Commanded vehicle depth: 690.282781 # Seafloor depth: -740.282781 # behavior reson { duration = RESON_DURATION; 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 = 21.82; 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 11 # Segment length 120.173670 meters # Minimum depth: 739.752009 meters looking forward 100.000000 meters along route # Maximum depth: 749.107377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.752009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.331315; longitude = -118.137829; captureRadius = 10; duration = 240; initialDepth = 692.224424; finalDepth = 689.752009; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 689.752009 # Seafloor depth: -739.752009 # behavior reson { duration = RESON_DURATION; 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 10 # Segment length 149.960932 meters # Minimum depth: 742.224424 meters looking forward 100.000000 meters along route # Maximum depth: 751.388100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.224424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.330870; longitude = -118.139006; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 697.558304; finalDepth = 692.224424; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 56.112627 # Actual altitude: 56.112627 # Commanded vehicle depth: 692.224424 # Seafloor depth: -748.337051 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 224.45; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.45; MB_Bottom_Detect_Filter_Max_Range = 224.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 135.212399 meters # Minimum depth: 747.558304 meters looking forward 100.000000 meters along route # Maximum depth: 753.521113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.558304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.329637; longitude = -118.138344; captureRadius = 10; duration = 270; # abortOnTimeout = True; initialDepth = 699.803768; finalDepth = 697.558304; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.112627 # Actual altitude: 56.112627 # Commanded vehicle depth: 697.558304 # Seafloor depth: -747.558304 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 224.45; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.45; MB_Bottom_Detect_Filter_Max_Range = 224.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.226906 meters # Minimum depth: 749.803768 meters looking forward 100.000000 meters along route # Maximum depth: 753.377320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.803768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.330137; longitude = -118.137019; captureRadius = 10; duration = 218; initialDepth = 693.033029; finalDepth = 699.803768; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5735520000001 # Actual altitude: 53.5735520000001 # Commanded vehicle depth: 699.803768 # Seafloor depth: -753.377320 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 214.29; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.43; MB_Bottom_Detect_Filter_Max_Range = 214.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 109.620871 meters # Minimum depth: 743.033029 meters looking forward 100.000000 meters along route # Maximum depth: 754.976219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.033029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.330542; longitude = -118.135949; captureRadius = 10; duration = 219; initialDepth = 693.780910; finalDepth = 693.033029; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.94319 # Actual altitude: 61.94319 # Commanded vehicle depth: 693.033029 # Seafloor depth: -754.976219 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 247.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.78; MB_Bottom_Detect_Filter_Max_Range = 247.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 109.620422 meters # Minimum depth: 743.780910 meters looking forward 100.000000 meters along route # Maximum depth: 746.594538 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.780910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.330948; longitude = -118.134875; captureRadius = 10; duration = 219; initialDepth = 689.193346; finalDepth = 693.780910; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.94319 # Actual altitude: 61.94319 # Commanded vehicle depth: 693.78091 # Seafloor depth: -743.780910 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 247.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.78; MB_Bottom_Detect_Filter_Max_Range = 247.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 109.619972 meters # Minimum depth: 739.193346 meters looking forward 100.000000 meters along route # Maximum depth: 745.081507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.193346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.331353; longitude = -118.133801; captureRadius = 10; duration = 219; initialDepth = 688.141434; finalDepth = 689.193346; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.283689 # Actual altitude: 55.283689 # Commanded vehicle depth: 689.193346 # Seafloor depth: -744.477035 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 221.13; 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 = 221.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 109.619521 meters # Minimum depth: 738.141434 meters looking forward 100.000000 meters along route # Maximum depth: 741.197625 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.141434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.331759; longitude = -118.132727; captureRadius = 10; duration = 219; initialDepth = 693.444846; finalDepth = 688.141434; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.283689 # Actual altitude: 55.283689 # Commanded vehicle depth: 688.141434 # Seafloor depth: -738.802533 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 221.13; 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 = 221.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 109.619072 meters # Minimum depth: 743.444846 meters looking forward 100.000000 meters along route # Maximum depth: 747.319046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.444846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332165; longitude = -118.131653; captureRadius = 10; duration = 219; initialDepth = 692.598960; finalDepth = 693.444846; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.661099 # Actual altitude: 50.661099 # Commanded vehicle depth: 693.444846 # Seafloor depth: -743.444846 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.64; 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 = 202.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 109.618621 meters # Minimum depth: 742.598960 meters looking forward 100.000000 meters along route # Maximum depth: 746.099220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.598960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332571; longitude = -118.130579; captureRadius = 10; duration = 219; initialDepth = 691.913095; finalDepth = 692.598960; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5002599999999 # Actual altitude: 53.5002599999999 # Commanded vehicle depth: 692.59896 # Seafloor depth: -746.099220 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 214.00; 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 = 214.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 109.618172 meters # Minimum depth: 741.913095 meters looking forward 100.000000 meters along route # Maximum depth: 744.850000 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.913095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332976; longitude = -118.129505; captureRadius = 10; duration = 219; initialDepth = 692.592229; finalDepth = 691.913095; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5002599999999 # Actual altitude: 53.5002599999999 # Commanded vehicle depth: 691.913095 # Seafloor depth: -744.113169 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 214.00; 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 = 214.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 109.617722 meters # Minimum depth: 742.592229 meters looking forward 100.000000 meters along route # Maximum depth: 746.816634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.592229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333382; longitude = -118.128432; captureRadius = 10; duration = 219; initialDepth = 700.203074; finalDepth = 692.592229; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.200074 # Actual altitude: 52.200074 # Commanded vehicle depth: 692.592229 # Seafloor depth: -742.592229 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.80; 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 = 208.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 109.617272 meters # Minimum depth: 750.203074 meters looking forward 100.000000 meters along route # Maximum depth: 759.560897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.203074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333788; longitude = -118.127358; captureRadius = 10; duration = 219; initialDepth = 710.019236; finalDepth = 700.203074; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 700.203074 # Seafloor depth: -750.203074 # behavior reson { duration = RESON_DURATION; 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 109.616822 meters # Minimum depth: 760.019236 meters looking forward 100.000000 meters along route # Maximum depth: 765.177947 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.019236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334194; longitude = -118.126284; captureRadius = 10; duration = 219; initialDepth = 715.407887; finalDepth = 710.019236; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 710.019236 # Seafloor depth: -760.019236 # behavior reson { duration = RESON_DURATION; 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 109.616373 meters # Minimum depth: 765.407887 meters looking forward 100.000000 meters along route # Maximum depth: 767.381834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.407887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334599; longitude = -118.125210; captureRadius = 10; duration = 219; initialDepth = 715.377420; finalDepth = 715.407887; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3724890000001 # Actual altitude: 50.3724890000001 # Commanded vehicle depth: 715.407887 # Seafloor depth: -765.780376 # behavior reson { duration = RESON_DURATION; 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 9 # Segment length 109.615922 meters # Minimum depth: 765.377420 meters looking forward 100.000000 meters along route # Maximum depth: 768.525856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.377420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335005; longitude = -118.124136; captureRadius = 10; duration = 219; initialDepth = 714.199977; finalDepth = 715.377420; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.66255 # Actual altitude: 52.66255 # Commanded vehicle depth: 715.37742 # Seafloor depth: -768.039970 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 210.65; 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 = 210.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 109.615473 meters # Minimum depth: 764.199977 meters looking forward 100.000000 meters along route # Maximum depth: 766.373225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.199977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335411; longitude = -118.123062; captureRadius = 10; duration = 219; initialDepth = 712.207993; finalDepth = 714.199977; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.66255 # Actual altitude: 52.66255 # Commanded vehicle depth: 714.199977 # Seafloor depth: -764.199977 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 210.65; 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 = 210.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 109.615023 meters # Minimum depth: 762.207993 meters looking forward 100.000000 meters along route # Maximum depth: 767.025719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.207993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335817; longitude = -118.121988; captureRadius = 10; duration = 219; initialDepth = 717.313733; finalDepth = 712.207993; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.947089 # Actual altitude: 52.947089 # Commanded vehicle depth: 712.207993 # Seafloor depth: -765.155082 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 211.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 109.614573 meters # Minimum depth: 767.313733 meters looking forward 100.000000 meters along route # Maximum depth: 769.320902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.313733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336222; longitude = -118.120914; captureRadius = 10; duration = 219; initialDepth = 717.896174; finalDepth = 717.313733; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.947089 # Actual altitude: 52.947089 # Commanded vehicle depth: 717.313733 # Seafloor depth: -767.313733 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 211.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 109.614124 meters # Minimum depth: 767.896174 meters looking forward 100.000000 meters along route # Maximum depth: 773.285196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.896174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336628; longitude = -118.119840; captureRadius = 10; duration = 219; initialDepth = 727.146872; finalDepth = 717.896174; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.968534 # Actual altitude: 50.968534 # Commanded vehicle depth: 717.896174 # Seafloor depth: -768.864708 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.87; 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 = 203.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 109.613674 meters # Minimum depth: 777.146872 meters looking forward 100.000000 meters along route # Maximum depth: 783.158036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 727.146872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337034; longitude = -118.118766; captureRadius = 10; duration = 219; initialDepth = 735.201906; finalDepth = 727.146872; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.968534 # Actual altitude: 50.968534 # Commanded vehicle depth: 727.146872 # Seafloor depth: -777.146872 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.87; 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 = 203.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 109.613224 meters # Minimum depth: 785.201906 meters looking forward 100.000000 meters along route # Maximum depth: 792.170378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.201906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337440; longitude = -118.117692; captureRadius = 10; duration = 219; initialDepth = 744.978154; finalDepth = 735.201906; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 735.201906 # Seafloor depth: -785.201906 # behavior reson { duration = RESON_DURATION; 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 109.612775 meters # Minimum depth: 794.978154 meters looking forward 100.000000 meters along route # Maximum depth: 800.772645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.978154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337845; longitude = -118.116618; captureRadius = 10; duration = 219; initialDepth = 751.858213; finalDepth = 744.978154; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 744.978154 # Seafloor depth: -794.978154 # behavior reson { duration = RESON_DURATION; 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 101.246052 meters # Minimum depth: 801.858213 meters looking forward 100.000000 meters along route # Maximum depth: 805.826926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.858213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338251; longitude = -118.115544; captureRadius = 10; duration = 202; initialDepth = 748.403609; finalDepth = 751.858213; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 751.858213 # Seafloor depth: -801.858213 # behavior reson { duration = RESON_DURATION; 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 8 # Segment length 150.020865 meters # Minimum depth: 798.403609 meters looking forward 100.000000 meters along route # Maximum depth: 806.623516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 748.403609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338626; longitude = -118.114552; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 739.384581; finalDepth = 748.403609; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 58.156526 # Actual altitude: 58.156526 # Commanded vehicle depth: 748.403609 # Seafloor depth: -806.560135 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; 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 to get to end of line 7 # Segment length 113.905319 meters # Minimum depth: 789.384581 meters looking forward 100.000000 meters along route # Maximum depth: 799.594971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.384581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337392; longitude = -118.113891; captureRadius = 10; duration = 227; # abortOnTimeout = True; initialDepth = 729.220087; finalDepth = 739.384581; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.21039 # Actual altitude: 60.21039 # Commanded vehicle depth: 739.384581 # Seafloor depth: -799.594971 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 240.84; 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 = 240.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.614091 meters # Minimum depth: 779.220087 meters looking forward 100.000000 meters along route # Maximum depth: 787.196887 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.220087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336970; longitude = -118.115007; captureRadius = 10; duration = 219; initialDepth = 729.333166; finalDepth = 729.220087; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.21039 # Actual altitude: 60.21039 # Commanded vehicle depth: 729.220087 # Seafloor depth: -787.196887 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 240.84; 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 = 240.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 109.614541 meters # Minimum depth: 779.333166 meters looking forward 100.000000 meters along route # Maximum depth: 781.249297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.333166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336565; longitude = -118.116081; captureRadius = 10; duration = 219; initialDepth = 725.454828; finalDepth = 729.333166; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.9767999999999 # Actual altitude: 57.9767999999999 # Commanded vehicle depth: 729.333166 # Seafloor depth: -779.333166 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 231.91; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.19; MB_Bottom_Detect_Filter_Max_Range = 231.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 109.614990 meters # Minimum depth: 775.454828 meters looking forward 100.000000 meters along route # Maximum depth: 780.086462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.454828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336159; longitude = -118.117155; captureRadius = 10; duration = 219; initialDepth = 718.743306; finalDepth = 725.454828; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.631634 # Actual altitude: 54.631634 # Commanded vehicle depth: 725.454828 # Seafloor depth: -780.086462 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 218.53; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.85; MB_Bottom_Detect_Filter_Max_Range = 218.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 109.615441 meters # Minimum depth: 768.743306 meters looking forward 100.000000 meters along route # Maximum depth: 775.231975 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.743306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335753; longitude = -118.118229; captureRadius = 10; duration = 219; initialDepth = 715.293580; finalDepth = 718.743306; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.4886690000001 # Actual altitude: 56.4886690000001 # Commanded vehicle depth: 718.743306 # Seafloor depth: -775.231975 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 225.95; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.60; MB_Bottom_Detect_Filter_Max_Range = 225.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 109.615889 meters # Minimum depth: 765.293580 meters looking forward 100.000000 meters along route # Maximum depth: 770.081714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.293580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335347; longitude = -118.119303; captureRadius = 10; duration = 219; initialDepth = 714.522463; finalDepth = 715.293580; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.4886690000001 # Actual altitude: 56.4886690000001 # Commanded vehicle depth: 715.29358 # Seafloor depth: -769.181299 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 225.95; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.60; MB_Bottom_Detect_Filter_Max_Range = 225.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 109.616340 meters # Minimum depth: 764.522463 meters looking forward 100.000000 meters along route # Maximum depth: 766.337514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.522463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334942; longitude = -118.120377; captureRadius = 10; duration = 219; initialDepth = 713.429076; finalDepth = 714.522463; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8877189999999 # Actual altitude: 53.8877189999999 # Commanded vehicle depth: 714.522463 # Seafloor depth: -764.522463 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 215.55; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.56; MB_Bottom_Detect_Filter_Max_Range = 215.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 109.616789 meters # Minimum depth: 763.429076 meters looking forward 100.000000 meters along route # Maximum depth: 765.915765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.429076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334536; longitude = -118.121451; captureRadius = 10; duration = 219; initialDepth = 714.207033; finalDepth = 713.429076; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.486689 # Actual altitude: 52.486689 # Commanded vehicle depth: 713.429076 # Seafloor depth: -765.915765 # behavior reson { duration = RESON_DURATION; 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 7 # Segment length 109.617239 meters # Minimum depth: 764.207033 meters looking forward 100.000000 meters along route # Maximum depth: 766.862864 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.207033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334130; longitude = -118.122525; captureRadius = 10; duration = 219; initialDepth = 710.286113; finalDepth = 714.207033; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.486689 # Actual altitude: 52.486689 # Commanded vehicle depth: 714.207033 # Seafloor depth: -765.395729 # behavior reson { duration = RESON_DURATION; 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 7 # Segment length 109.617689 meters # Minimum depth: 760.286113 meters looking forward 100.000000 meters along route # Maximum depth: 764.897833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.286113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333724; longitude = -118.123599; captureRadius = 10; duration = 219; initialDepth = 706.239236; finalDepth = 710.286113; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.61172 # Actual altitude: 54.61172 # Commanded vehicle depth: 710.286113 # Seafloor depth: -764.897833 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 218.45; 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 = 218.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 109.618139 meters # Minimum depth: 756.239236 meters looking forward 100.000000 meters along route # Maximum depth: 760.741948 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.239236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333319; longitude = -118.124673; captureRadius = 10; duration = 219; initialDepth = 696.571771; finalDepth = 706.239236; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.61172 # Actual altitude: 54.61172 # Commanded vehicle depth: 706.239236 # Seafloor depth: -760.243810 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 218.45; 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 = 218.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 109.618588 meters # Minimum depth: 746.571771 meters looking forward 100.000000 meters along route # Maximum depth: 754.956439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.571771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332913; longitude = -118.125747; captureRadius = 10; duration = 219; initialDepth = 690.632488; finalDepth = 696.571771; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.384668 # Actual altitude: 58.384668 # Commanded vehicle depth: 696.571771 # Seafloor depth: -754.956439 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 233.54; 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 = 233.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 109.619039 meters # Minimum depth: 740.632488 meters looking forward 100.000000 meters along route # Maximum depth: 745.360714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.632488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332507; longitude = -118.126821; captureRadius = 10; duration = 219; initialDepth = 689.244107; finalDepth = 690.632488; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.384668 # Actual altitude: 58.384668 # Commanded vehicle depth: 690.632488 # Seafloor depth: -745.360714 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 233.54; 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 = 233.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 109.619488 meters # Minimum depth: 739.244107 meters looking forward 100.000000 meters along route # Maximum depth: 743.565240 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.244107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332101; longitude = -118.127895; captureRadius = 10; duration = 219; initialDepth = 690.394782; finalDepth = 689.244107; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7282260000001 # Actual altitude: 54.7282260000001 # Commanded vehicle depth: 689.244107 # Seafloor depth: -739.923931 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 218.91; 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 = 218.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 109.619938 meters # Minimum depth: 740.394782 meters looking forward 100.000000 meters along route # Maximum depth: 742.616783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.394782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.331695; longitude = -118.128968; captureRadius = 10; duration = 219; initialDepth = 689.579205; finalDepth = 690.394782; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6798240000001 # Actual altitude: 50.6798240000001 # Commanded vehicle depth: 690.394782 # Seafloor depth: -740.394782 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.72; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 109.620388 meters # Minimum depth: 739.579205 meters looking forward 100.000000 meters along route # Maximum depth: 743.652738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.579205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.331290; longitude = -118.130042; captureRadius = 10; duration = 219; initialDepth = 688.070880; finalDepth = 689.579205; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.073533 # Actual altitude: 54.073533 # Commanded vehicle depth: 689.579205 # Seafloor depth: -743.652738 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 216.29; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.63; MB_Bottom_Detect_Filter_Max_Range = 216.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 109.620838 meters # Minimum depth: 738.070880 meters looking forward 100.000000 meters along route # Maximum depth: 743.744765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.070880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.330884; longitude = -118.131116; captureRadius = 10; duration = 219; initialDepth = 691.136464; finalDepth = 688.070880; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.073533 # Actual altitude: 54.073533 # Commanded vehicle depth: 688.07088 # Seafloor depth: -740.649213 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 216.29; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.63; MB_Bottom_Detect_Filter_Max_Range = 216.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 109.621287 meters # Minimum depth: 741.136464 meters looking forward 100.000000 meters along route # Maximum depth: 745.215733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.136464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.330478; longitude = -118.132190; captureRadius = 10; duration = 219; initialDepth = 693.138669; finalDepth = 691.136464; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.578333 # Actual altitude: 52.578333 # Commanded vehicle depth: 691.136464 # Seafloor depth: -741.136464 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 210.31; 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 = 210.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 109.621738 meters # Minimum depth: 743.138669 meters looking forward 100.000000 meters along route # Maximum depth: 747.310651 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.138669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.330072; longitude = -118.133264; captureRadius = 10; duration = 219; initialDepth = 696.131816; finalDepth = 693.138669; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.269875 # Actual altitude: 52.269875 # Commanded vehicle depth: 693.138669 # Seafloor depth: -745.408544 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.08; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 109.622188 meters # Minimum depth: 746.131816 meters looking forward 100.000000 meters along route # Maximum depth: 749.667963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.131816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.329667; longitude = -118.134338; captureRadius = 10; duration = 219; initialDepth = 697.435504; finalDepth = 696.131816; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.269875 # Actual altitude: 52.269875 # Commanded vehicle depth: 696.131816 # Seafloor depth: -746.131816 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.08; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 125.868793 meters # Minimum depth: 747.435504 meters looking forward 100.000000 meters along route # Maximum depth: 749.914453 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.435504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.329261; longitude = -118.135412; captureRadius = 10; duration = 251; initialDepth = 697.714319; finalDepth = 697.435504; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4789489999999 # Actual altitude: 52.4789489999999 # Commanded vehicle depth: 697.435504 # Seafloor depth: -749.914453 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.92; 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 = 209.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 105.914246 meters # Minimum depth: 747.714319 meters looking forward 100.000000 meters along route # Maximum depth: 750.657410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.714319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.328795; longitude = -118.136645; captureRadius = 10; duration = 211; initialDepth = 698.177277; finalDepth = 697.714319; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.4789489999999 # Actual altitude: 52.4789489999999 # Commanded vehicle depth: 697.714319 # Seafloor depth: -749.896162 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 209.92; 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 = 209.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 149.961549 meters # Minimum depth: 748.177277 meters looking forward 100.000000 meters along route # Maximum depth: 750.428697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.177277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.328403; longitude = -118.137683; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 696.994496; finalDepth = 698.177277; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 52.181843 # Actual altitude: 52.181843 # Commanded vehicle depth: 698.177277 # Seafloor depth: -748.177277 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; 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 to get to end of line 5 # Segment length 136.806475 meters # Minimum depth: 746.994496 meters looking forward 100.000000 meters along route # Maximum depth: 751.398102 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.994496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.327170; longitude = -118.137021; captureRadius = 10; duration = 273; # abortOnTimeout = True; initialDepth = 696.991479; finalDepth = 696.994496; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.403606 # Actual altitude: 54.403606 # Commanded vehicle depth: 696.994496 # Seafloor depth: -751.398102 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 217.61; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.76; MB_Bottom_Detect_Filter_Max_Range = 217.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.623841 meters # Minimum depth: 746.991479 meters looking forward 100.000000 meters along route # Maximum depth: 748.740669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.991479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.327676; longitude = -118.135681; captureRadius = 10; duration = 219; initialDepth = 696.043621; finalDepth = 696.991479; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.403606 # Actual altitude: 54.403606 # Commanded vehicle depth: 696.991479 # Seafloor depth: -746.991479 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 217.61; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.76; MB_Bottom_Detect_Filter_Max_Range = 217.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 109.623390 meters # Minimum depth: 746.043621 meters looking forward 100.000000 meters along route # Maximum depth: 749.420773 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.043621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.328082; longitude = -118.134607; captureRadius = 10; duration = 219; initialDepth = 693.889141; finalDepth = 696.043621; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.377152 # Actual altitude: 53.377152 # Commanded vehicle depth: 696.043621 # Seafloor depth: -749.420773 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 213.51; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.35; MB_Bottom_Detect_Filter_Max_Range = 213.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 109.622941 meters # Minimum depth: 743.889141 meters looking forward 100.000000 meters along route # Maximum depth: 747.322859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.889141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.328488; longitude = -118.133533; captureRadius = 10; duration = 219; initialDepth = 692.697141; finalDepth = 693.889141; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.377152 # Actual altitude: 53.377152 # Commanded vehicle depth: 693.889141 # Seafloor depth: -747.150532 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 213.51; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.35; MB_Bottom_Detect_Filter_Max_Range = 213.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 118.430781 meters # Minimum depth: 742.697141 meters looking forward 100.000000 meters along route # Maximum depth: 745.530216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.697141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.328894; longitude = -118.132459; captureRadius = 10; duration = 236; initialDepth = 692.932422; finalDepth = 692.697141; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.261391 # Actual altitude: 53.261391 # Commanded vehicle depth: 692.697141 # Seafloor depth: -744.738147 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 213.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.30; MB_Bottom_Detect_Filter_Max_Range = 213.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.813751 meters # Minimum depth: 742.932422 meters looking forward 100.000000 meters along route # Maximum depth: 744.642370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.932422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.329332; longitude = -118.131299; captureRadius = 10; duration = 201; initialDepth = 688.387025; finalDepth = 692.932422; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.041006 # Actual altitude: 52.041006 # Commanded vehicle depth: 692.932422 # Seafloor depth: -744.642370 # behavior reson { duration = RESON_DURATION; 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 5 # Segment length 116.795672 meters # Minimum depth: 738.387025 meters looking forward 100.000000 meters along route # Maximum depth: 740.811861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.387025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.329705; longitude = -118.130311; captureRadius = 10; duration = 233; initialDepth = 690.111476; finalDepth = 688.387025; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.424836 # Actual altitude: 52.424836 # Commanded vehicle depth: 688.387025 # Seafloor depth: -740.811861 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.70; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.97; MB_Bottom_Detect_Filter_Max_Range = 209.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 102.447061 meters # Minimum depth: 740.111476 meters looking forward 100.000000 meters along route # Maximum depth: 742.341102 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.111476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.330137; longitude = -118.129167; captureRadius = 10; duration = 204; initialDepth = 689.185200; finalDepth = 690.111476; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.424836 # Actual altitude: 52.424836 # Commanded vehicle depth: 690.111476 # Seafloor depth: -740.111476 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.70; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.97; MB_Bottom_Detect_Filter_Max_Range = 209.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 115.160589 meters # Minimum depth: 739.185200 meters looking forward 100.000000 meters along route # Maximum depth: 742.037545 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.185200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.330517; longitude = -118.128163; captureRadius = 10; duration = 230; initialDepth = 688.692203; finalDepth = 689.185200; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.667701 # Actual altitude: 51.667701 # Commanded vehicle depth: 689.1852 # Seafloor depth: -740.852901 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.67; 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 = 206.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.080343 meters # Minimum depth: 738.692203 meters looking forward 100.000000 meters along route # Maximum depth: 741.485588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.692203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.330943; longitude = -118.127035; captureRadius = 10; duration = 208; initialDepth = 690.354617; finalDepth = 688.692203; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.667701 # Actual altitude: 51.667701 # Commanded vehicle depth: 688.692203 # Seafloor depth: -739.490727 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.67; 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 = 206.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 113.525534 meters # Minimum depth: 740.354617 meters looking forward 100.000000 meters along route # Maximum depth: 747.299064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.354617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.331328; longitude = -118.126015; captureRadius = 10; duration = 227; initialDepth = 697.652916; finalDepth = 690.354617; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.798524 # Actual altitude: 50.798524 # Commanded vehicle depth: 690.354617 # Seafloor depth: -740.354617 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.19; 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 = 203.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.713600 meters # Minimum depth: 747.652916 meters looking forward 100.000000 meters along route # Maximum depth: 754.585153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.652916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.331748; longitude = -118.124903; captureRadius = 10; duration = 211; initialDepth = 705.550555; finalDepth = 697.652916; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 697.652916 # Seafloor depth: -747.652916 # behavior reson { duration = RESON_DURATION; 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 111.890505 meters # Minimum depth: 755.550555 meters looking forward 100.000000 meters along route # Maximum depth: 763.392341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.550555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332140; longitude = -118.123867; captureRadius = 10; duration = 223; initialDepth = 713.431592; finalDepth = 705.550555; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 705.550555 # Seafloor depth: -755.550555 # behavior reson { duration = RESON_DURATION; 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 107.346830 meters # Minimum depth: 763.431592 meters looking forward 100.000000 meters along route # Maximum depth: 765.119309 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.431592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332554; longitude = -118.122771; captureRadius = 10; duration = 214; initialDepth = 713.547875; finalDepth = 713.431592; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 713.431592 # Seafloor depth: -763.431592 # behavior reson { duration = RESON_DURATION; 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 110.255503 meters # Minimum depth: 763.547875 meters looking forward 100.000000 meters along route # Maximum depth: 766.407932 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.547875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332951; longitude = -118.121719; captureRadius = 10; duration = 220; initialDepth = 714.800808; finalDepth = 713.547875; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2375460000001 # Actual altitude: 51.2375460000001 # Commanded vehicle depth: 713.547875 # Seafloor depth: -764.785421 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.95; 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 = 204.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 108.980032 meters # Minimum depth: 764.800808 meters looking forward 100.000000 meters along route # Maximum depth: 766.795563 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.800808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333359; longitude = -118.120639; captureRadius = 10; duration = 217; initialDepth = 713.966823; finalDepth = 714.800808; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2375460000001 # Actual altitude: 51.2375460000001 # Commanded vehicle depth: 714.800808 # Seafloor depth: -764.800808 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.95; 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 = 204.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 109.617094 meters # Minimum depth: 763.966823 meters looking forward 100.000000 meters along route # Maximum depth: 770.361280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.966823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333763; longitude = -118.119571; captureRadius = 10; duration = 219; initialDepth = 720.357341; finalDepth = 713.966823; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1654590000001 # Actual altitude: 53.1654590000001 # Commanded vehicle depth: 713.966823 # Seafloor depth: -767.132282 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 212.66; 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 = 212.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 109.616643 meters # Minimum depth: 770.357341 meters looking forward 100.000000 meters along route # Maximum depth: 773.167423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.357341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334169; longitude = -118.118497; captureRadius = 10; duration = 219; initialDepth = 721.658604; finalDepth = 720.357341; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1654590000001 # Actual altitude: 53.1654590000001 # Commanded vehicle depth: 720.357341 # Seafloor depth: -770.357341 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 212.66; 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 = 212.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 109.616194 meters # Minimum depth: 771.658604 meters looking forward 100.000000 meters along route # Maximum depth: 777.644211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.658604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334574; longitude = -118.117423; captureRadius = 10; duration = 219; initialDepth = 727.715935; finalDepth = 721.658604; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 721.658604 # Seafloor depth: -771.658604 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 109.615745 meters # Minimum depth: 777.715935 meters looking forward 100.000000 meters along route # Maximum depth: 784.277477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 727.715935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334980; longitude = -118.116349; captureRadius = 10; duration = 219; initialDepth = 732.599087; finalDepth = 727.715935; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 727.715935 # Seafloor depth: -777.715935 # behavior reson { duration = RESON_DURATION; 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 105.350658 meters # Minimum depth: 782.599087 meters looking forward 100.000000 meters along route # Maximum depth: 783.801068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.599087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335386; longitude = -118.115275; captureRadius = 10; duration = 210; initialDepth = 732.398395; finalDepth = 732.599087; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2019809999999 # Actual altitude: 51.2019809999999 # Commanded vehicle depth: 732.599087 # Seafloor depth: -783.801068 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.81; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 103.527804 meters # Minimum depth: 782.398395 meters looking forward 100.000000 meters along route # Maximum depth: 784.708635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.398395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335776; longitude = -118.114243; captureRadius = 10; duration = 207; initialDepth = 732.210144; finalDepth = 732.398395; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.2019809999999 # Actual altitude: 51.2019809999999 # Commanded vehicle depth: 732.398395 # Seafloor depth: -782.456517 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 204.81; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.81; 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 146.990890 meters # Minimum depth: 782.210144 meters looking forward 100.000000 meters along route # Maximum depth: 785.724152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.210144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336159; longitude = -118.113229; captureRadius = 10; duration = 293; # abortOnTimeout = True; initialDepth = 732.659928; finalDepth = 732.210144; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.514008 # Actual altitude: 53.514008 # Commanded vehicle depth: 732.210144 # Seafloor depth: -785.724152 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 214.06; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 114.255088 meters # Minimum depth: 782.659928 meters looking forward 100.000000 meters along route # Maximum depth: 783.469326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.659928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335339; longitude = -118.114470; captureRadius = 10; duration = 228; initialDepth = 724.685909; finalDepth = 732.659928; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.514008 # Actual altitude: 53.514008 # Commanded vehicle depth: 732.659928 # Seafloor depth: -783.087831 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 214.06; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 108.351562 meters # Minimum depth: 774.685909 meters looking forward 100.000000 meters along route # Maximum depth: 781.088612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.685909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334702; longitude = -118.115435; captureRadius = 10; duration = 216; initialDepth = 721.277481; finalDepth = 724.685909; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.402703 # Actual altitude: 56.402703 # Commanded vehicle depth: 724.685909 # Seafloor depth: -781.088612 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 225.61; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.56; MB_Bottom_Detect_Filter_Max_Range = 225.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 127.204714 meters # Minimum depth: 771.277481 meters looking forward 100.000000 meters along route # Maximum depth: 774.287257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.277481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334097; longitude = -118.116349; captureRadius = 10; duration = 254; initialDepth = 716.819772; finalDepth = 721.277481; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.402703 # Actual altitude: 56.402703 # Commanded vehicle depth: 721.277481 # Seafloor depth: -774.287257 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 225.61; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.56; MB_Bottom_Detect_Filter_Max_Range = 225.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.394008 meters # Minimum depth: 766.819772 meters looking forward 100.000000 meters along route # Maximum depth: 770.815218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.819772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333388; longitude = -118.117423; captureRadius = 10; duration = 202; initialDepth = 716.638548; finalDepth = 716.819772; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.995446 # Actual altitude: 53.995446 # Commanded vehicle depth: 716.819772 # Seafloor depth: -770.815218 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 215.98; 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 = 215.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 121.215838 meters # Minimum depth: 766.638548 meters looking forward 100.000000 meters along route # Maximum depth: 768.031283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.638548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332822; longitude = -118.118279; captureRadius = 10; duration = 242; initialDepth = 715.930571; finalDepth = 716.638548; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.995446 # Actual altitude: 53.995446 # Commanded vehicle depth: 716.638548 # Seafloor depth: -766.876131 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 215.98; 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 = 215.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 114.792147 meters # Minimum depth: 765.930571 meters looking forward 100.000000 meters along route # Maximum depth: 768.499650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.930571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332146; longitude = -118.119303; captureRadius = 10; duration = 229; initialDepth = 715.240179; finalDepth = 715.930571; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50.752782 # Actual altitude: 50.752782 # Commanded vehicle depth: 715.930571 # Seafloor depth: -766.683353 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 203.01; 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 = 203.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 160.075270 meters # Minimum depth: 765.240179 meters looking forward 100.000000 meters along route # Maximum depth: 766.667007 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.240179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.331506; longitude = -118.120272; captureRadius = 10; duration = 320; # abortOnTimeout = True; initialDepth = 713.557994; finalDepth = 715.240179; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.893595 # Actual altitude: 50.893595 # Commanded vehicle depth: 715.240179 # Seafloor depth: -766.133774 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 203.57; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 107.156369 meters # Minimum depth: 763.557994 meters looking forward 100.000000 meters along route # Maximum depth: 766.262482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.557994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332822; longitude = -118.120978; captureRadius = 10; duration = 214; initialDepth = 714.250942; finalDepth = 713.557994; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.704488 # Actual altitude: 52.704488 # Commanded vehicle depth: 713.557994 # Seafloor depth: -766.262482 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 210.82; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.08; MB_Bottom_Detect_Filter_Max_Range = 210.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 121.735071 meters # Minimum depth: 764.250942 meters looking forward 100.000000 meters along route # Maximum depth: 765.942915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.250942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333704; longitude = -118.121451; captureRadius = 10; duration = 243; initialDepth = 714.251363; finalDepth = 714.250942; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.704488 # Actual altitude: 52.704488 # Commanded vehicle depth: 714.250942 # Seafloor depth: -765.545653 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 210.82; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.08; MB_Bottom_Detect_Filter_Max_Range = 210.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 130.246742 meters # Minimum depth: 764.251363 meters looking forward 100.000000 meters along route # Maximum depth: 765.961141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.251363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334705; longitude = -118.121988; captureRadius = 10; duration = 260; initialDepth = 715.633171; finalDepth = 714.251363; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.294711 # Actual altitude: 51.294711 # Commanded vehicle depth: 714.251363 # Seafloor depth: -764.251363 # behavior reson { duration = RESON_DURATION; 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 130.595265 meters # Minimum depth: 765.633171 meters looking forward 100.000000 meters along route # Maximum depth: 771.186076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.633171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335776; longitude = -118.122562; captureRadius = 10; duration = 261; initialDepth = 719.978262; finalDepth = 715.633171; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 715.633171 # Seafloor depth: -765.633171 # behavior reson { duration = RESON_DURATION; 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 104.361991 meters # Minimum depth: 769.978262 meters looking forward 100.000000 meters along route # Maximum depth: 773.960878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.978262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336850; longitude = -118.123138; captureRadius = 10; duration = 208; initialDepth = 719.024565; finalDepth = 719.978262; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.165236 # Actual altitude: 52.165236 # Commanded vehicle depth: 719.978262 # Seafloor depth: -772.143498 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.66; 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 = 208.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 124.179159 meters # Minimum depth: 769.024565 meters looking forward 100.000000 meters along route # Maximum depth: 772.657333 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.024565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337708; longitude = -118.123599; captureRadius = 10; duration = 248; initialDepth = 718.718969; finalDepth = 719.024565; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.165236 # Actual altitude: 52.165236 # Commanded vehicle depth: 719.024565 # Seafloor depth: -770.057563 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.66; 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 = 208.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 130.594622 meters # Minimum depth: 768.718969 meters looking forward 100.000000 meters along route # Maximum depth: 776.584033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.718969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338729; longitude = -118.124146; captureRadius = 10; duration = 261; initialDepth = 728.335386; finalDepth = 718.718969; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0329979999999 # Actual altitude: 51.0329979999999 # Commanded vehicle depth: 718.718969 # Seafloor depth: -768.861791 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.13; 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 = 204.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 130.594388 meters # Minimum depth: 778.335386 meters looking forward 100.000000 meters along route # Maximum depth: 794.878337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.335386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339803; longitude = -118.124723; captureRadius = 10; duration = 261; initialDepth = 749.139404; finalDepth = 728.335386; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.142822 # Actual altitude: 50.142822 # Commanded vehicle depth: 728.335386 # Seafloor depth: -778.335386 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.57; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.567651 meters # Minimum depth: 799.139404 meters looking forward 100.000000 meters along route # Maximum depth: 809.480141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 749.139404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340877; longitude = -118.125299; captureRadius = 10; duration = 203; initialDepth = 754.775172; finalDepth = 749.139404; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 749.139404 # Seafloor depth: -799.139404 # behavior reson { duration = RESON_DURATION; 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 126.971965 meters # Minimum depth: 804.775172 meters looking forward 100.000000 meters along route # Maximum depth: 808.547843 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.775172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341712; longitude = -118.125747; captureRadius = 10; duration = 253; initialDepth = 755.773721; finalDepth = 754.775172; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0029919999999 # Actual altitude: 52.0029919999999 # Commanded vehicle depth: 754.775172 # Seafloor depth: -806.778164 # behavior reson { duration = RESON_DURATION; 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 3 # Segment length 130.593746 meters # Minimum depth: 805.773721 meters looking forward 100.000000 meters along route # Maximum depth: 808.237515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.773721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342757; longitude = -118.126307; captureRadius = 10; duration = 261; initialDepth = 750.651893; finalDepth = 755.773721; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.463794 # Actual altitude: 52.463794 # Commanded vehicle depth: 755.773721 # Seafloor depth: -808.237515 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.86; 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 = 209.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.634022 meters # Minimum depth: 800.651893 meters looking forward 100.000000 meters along route # Maximum depth: 805.270684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.651893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343830; longitude = -118.126883; captureRadius = 10; duration = 215; initialDepth = 748.556924; finalDepth = 750.651893; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.618791 # Actual altitude: 54.618791 # Commanded vehicle depth: 750.651893 # Seafloor depth: -805.270684 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 218.48; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.85; MB_Bottom_Detect_Filter_Max_Range = 218.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 121.732838 meters # Minimum depth: 798.556924 meters looking forward 100.000000 meters along route # Maximum depth: 805.310725 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 748.556924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344716; longitude = -118.127358; captureRadius = 10; duration = 243; initialDepth = 753.103253; finalDepth = 748.556924; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.618791 # Actual altitude: 54.618791 # Commanded vehicle depth: 748.556924 # Seafloor depth: -799.878808 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 218.48; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.85; MB_Bottom_Detect_Filter_Max_Range = 218.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 129.764735 meters # Minimum depth: 803.103253 meters looking forward 100.000000 meters along route # Maximum depth: 805.301206 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.103253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345717; longitude = -118.127895; captureRadius = 10; duration = 259; initialDepth = 752.233459; finalDepth = 753.103253; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.197953 # Actual altitude: 52.197953 # Commanded vehicle depth: 753.103253 # Seafloor depth: -805.301206 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 130.592869 meters # Minimum depth: 802.233459 meters looking forward 100.000000 meters along route # Maximum depth: 804.155362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.233459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346784; longitude = -118.128467; captureRadius = 10; duration = 261; initialDepth = 748.959033; finalDepth = 752.233459; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.197953 # Actual altitude: 52.197953 # Commanded vehicle depth: 752.233459 # Seafloor depth: -802.882634 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 104.839692 meters # Minimum depth: 798.959033 meters looking forward 100.000000 meters along route # Maximum depth: 802.545461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 748.959033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347858; longitude = -118.129043; captureRadius = 10; duration = 209; initialDepth = 748.471327; finalDepth = 748.959033; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5864280000001 # Actual altitude: 53.5864280000001 # Commanded vehicle depth: 748.959033 # Seafloor depth: -802.545461 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 214.35; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.43; MB_Bottom_Detect_Filter_Max_Range = 214.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 123.697266 meters # Minimum depth: 798.471327 meters looking forward 100.000000 meters along route # Maximum depth: 799.430895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 748.471327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348720; longitude = -118.129505; captureRadius = 10; duration = 247; initialDepth = 746.972231; finalDepth = 748.471327; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5864280000001 # Actual altitude: 53.5864280000001 # Commanded vehicle depth: 748.471327 # Seafloor depth: -798.733925 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 214.35; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.43; MB_Bottom_Detect_Filter_Max_Range = 214.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 130.592227 meters # Minimum depth: 796.972231 meters looking forward 100.000000 meters along route # Maximum depth: 800.698848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 746.972231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349737; longitude = -118.130051; captureRadius = 10; duration = 261; initialDepth = 744.806023; finalDepth = 746.972231; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.829953 # Actual altitude: 51.829953 # Commanded vehicle depth: 746.972231 # Seafloor depth: -798.802184 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.32; 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 = 207.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 130.591992 meters # Minimum depth: 794.806023 meters looking forward 100.000000 meters along route # Maximum depth: 798.746421 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.806023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350811; longitude = -118.130627; captureRadius = 10; duration = 261; initialDepth = 748.064680; finalDepth = 744.806023; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.829953 # Actual altitude: 51.829953 # Commanded vehicle depth: 744.806023 # Seafloor depth: -795.720427 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.32; 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 = 207.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 102.045401 meters # Minimum depth: 798.064680 meters looking forward 100.000000 meters along route # Maximum depth: 800.316194 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 748.064680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351885; longitude = -118.131203; captureRadius = 10; duration = 204; initialDepth = 740.917261; finalDepth = 748.064680; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.251514 # Actual altitude: 52.251514 # Commanded vehicle depth: 748.06468 # Seafloor depth: -800.316194 # behavior reson { duration = RESON_DURATION; 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 3 # Segment length 126.490025 meters # Minimum depth: 790.917261 meters looking forward 100.000000 meters along route # Maximum depth: 798.082567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.917261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352724; longitude = -118.131653; captureRadius = 10; duration = 252; initialDepth = 740.917778; finalDepth = 740.917261; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.165306 # Actual altitude: 57.165306 # Commanded vehicle depth: 740.917261 # Seafloor depth: -798.082567 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 228.66; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.87; MB_Bottom_Detect_Filter_Max_Range = 228.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 130.591350 meters # Minimum depth: 790.917778 meters looking forward 100.000000 meters along route # Maximum depth: 791.787155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.917778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353765; longitude = -118.132211; captureRadius = 10; duration = 261; initialDepth = 741.614276; finalDepth = 740.917778; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.165306 # Actual altitude: 57.165306 # Commanded vehicle depth: 740.917778 # Seafloor depth: -790.917778 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 228.66; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.87; MB_Bottom_Detect_Filter_Max_Range = 228.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 108.111658 meters # Minimum depth: 791.614276 meters looking forward 100.000000 meters along route # Maximum depth: 792.098337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.614276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354839; longitude = -118.132787; captureRadius = 10; duration = 216; initialDepth = 739.316899; finalDepth = 741.614276; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.331308 # Actual altitude: 50.331308 # Commanded vehicle depth: 741.614276 # Seafloor depth: -791.945584 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.33; 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 = 201.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 121.730605 meters # Minimum depth: 789.316899 meters looking forward 100.000000 meters along route # Maximum depth: 791.472834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.316899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355728; longitude = -118.133264; captureRadius = 10; duration = 243; initialDepth = 736.089203; finalDepth = 739.316899; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.155935 # Actual altitude: 52.155935 # Commanded vehicle depth: 739.316899 # Seafloor depth: -791.472834 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.62; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 208.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 129.282745 meters # Minimum depth: 786.089203 meters looking forward 100.000000 meters along route # Maximum depth: 789.285712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.089203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356729; longitude = -118.133801; captureRadius = 10; duration = 258; initialDepth = 733.491644; finalDepth = 736.089203; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.196509 # Actual altitude: 53.196509 # Commanded vehicle depth: 736.089203 # Seafloor depth: -789.285712 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 212.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 130.590474 meters # Minimum depth: 783.491644 meters looking forward 100.000000 meters along route # Maximum depth: 785.895713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 733.491644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357792; longitude = -118.134372; captureRadius = 10; duration = 261; initialDepth = 731.219901; finalDepth = 733.491644; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.196509 # Actual altitude: 53.196509 # Commanded vehicle depth: 733.491644 # Seafloor depth: -785.895713 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 212.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 105.317377 meters # Minimum depth: 781.219901 meters looking forward 100.000000 meters along route # Maximum depth: 783.189296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.219901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358866; longitude = -118.134948; captureRadius = 10; duration = 210; initialDepth = 728.053147; finalDepth = 731.219901; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.404069 # Actual altitude: 52.404069 # Commanded vehicle depth: 731.219901 # Seafloor depth: -783.189296 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 209.62; 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 = 209.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 123.215391 meters # Minimum depth: 778.053147 meters looking forward 100.000000 meters along route # Maximum depth: 781.053722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.053147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359732; longitude = -118.135412; captureRadius = 10; duration = 246; initialDepth = 724.490901; finalDepth = 728.053147; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.000575 # Actual altitude: 53.000575 # Commanded vehicle depth: 728.053147 # Seafloor depth: -781.053722 # behavior reson { duration = RESON_DURATION; 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 3 # Segment length 130.589831 meters # Minimum depth: 774.490901 meters looking forward 100.000000 meters along route # Maximum depth: 778.014159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.490901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360745; longitude = -118.135956; captureRadius = 10; duration = 261; initialDepth = 720.014787; finalDepth = 724.490901; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5232579999999 # Actual altitude: 53.5232579999999 # Commanded vehicle depth: 724.490901 # Seafloor depth: -778.014159 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 214.09; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 130.589598 meters # Minimum depth: 770.014787 meters looking forward 100.000000 meters along route # Maximum depth: 774.156083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.014787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361819; longitude = -118.136532; captureRadius = 10; duration = 261; initialDepth = 714.732779; finalDepth = 720.014787; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.141296 # Actual altitude: 54.141296 # Commanded vehicle depth: 720.014787 # Seafloor depth: -774.156083 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 216.57; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.66; MB_Bottom_Detect_Filter_Max_Range = 216.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 102.523134 meters # Minimum depth: 764.732779 meters looking forward 100.000000 meters along route # Maximum depth: 769.218463 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.732779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362893; longitude = -118.137108; captureRadius = 10; duration = 205; initialDepth = 708.361144; finalDepth = 714.732779; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.485684 # Actual altitude: 54.485684 # Commanded vehicle depth: 714.732779 # Seafloor depth: -769.218463 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 217.94; 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 = 217.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 126.008100 meters # Minimum depth: 758.361144 meters looking forward 100.000000 meters along route # Maximum depth: 764.513619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.361144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363736; longitude = -118.137560; captureRadius = 10; duration = 252; initialDepth = 702.349404; finalDepth = 708.361144; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.152475 # Actual altitude: 56.152475 # Commanded vehicle depth: 708.361144 # Seafloor depth: -764.513619 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 224.61; 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 = 224.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 130.588956 meters # Minimum depth: 752.349404 meters looking forward 100.000000 meters along route # Maximum depth: 758.136995 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.349404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364773; longitude = -118.138116; captureRadius = 10; duration = 261; initialDepth = 697.364233; finalDepth = 702.349404; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.152475 # Actual altitude: 56.152475 # Commanded vehicle depth: 702.349404 # Seafloor depth: -758.136995 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 224.61; 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 = 224.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 108.589277 meters # Minimum depth: 747.364233 meters looking forward 100.000000 meters along route # Maximum depth: 751.717942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.364233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.365847; longitude = -118.138692; captureRadius = 10; duration = 217; initialDepth = 692.296801; finalDepth = 697.364233; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7875909999999 # Actual altitude: 55.7875909999999 # Commanded vehicle depth: 697.364233 # Seafloor depth: -751.717942 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 223.15; 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 = 223.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 121.728372 meters # Minimum depth: 742.296801 meters looking forward 100.000000 meters along route # Maximum depth: 746.925334 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.296801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.366740; longitude = -118.139171; captureRadius = 10; duration = 243; initialDepth = 688.227386; finalDepth = 692.296801; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6285330000001 # Actual altitude: 54.6285330000001 # Commanded vehicle depth: 692.296801 # Seafloor depth: -746.925334 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 218.51; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.85; MB_Bottom_Detect_Filter_Max_Range = 218.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 128.800774 meters # Minimum depth: 738.227386 meters looking forward 100.000000 meters along route # Maximum depth: 742.235001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.227386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.367741; longitude = -118.139708; captureRadius = 10; duration = 257; initialDepth = 685.187876; finalDepth = 688.227386; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6285330000001 # Actual altitude: 54.6285330000001 # Commanded vehicle depth: 688.227386 # Seafloor depth: -742.235001 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 218.51; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.85; MB_Bottom_Detect_Filter_Max_Range = 218.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 114.655361 meters # Minimum depth: 735.187876 meters looking forward 100.000000 meters along route # Maximum depth: 738.006614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.187876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.368800; longitude = -118.140276; captureRadius = 10; duration = 229; initialDepth = 682.645543; finalDepth = 685.187876; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.007615 # Actual altitude: 54.007615 # Commanded vehicle depth: 685.187876 # Seafloor depth: -738.006614 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 216.03; 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 = 216.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 103.357975 meters # Minimum depth: 732.645543 meters looking forward 100.000000 meters along route # Maximum depth: 734.737444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.645543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.369743; longitude = -118.140782; captureRadius = 10; duration = 206; initialDepth = 682.090931; finalDepth = 682.645543; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.8187380000001 # Actual altitude: 52.8187380000001 # Commanded vehicle depth: 682.645543 # Seafloor depth: -734.737444 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 211.27; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.27; 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 145.241426 meters # Minimum depth: 732.090931 meters looking forward 100.000000 meters along route # Maximum depth: 732.266113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.090931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.370593; longitude = -118.141238; captureRadius = 10; duration = 290; # abortOnTimeout = True; initialDepth = 681.866341; finalDepth = 682.090931; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.091901 # Actual altitude: 52.091901 # Commanded vehicle depth: 682.090931 # Seafloor depth: -732.266113 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.37; 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 = 208.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 109.579111 meters # Minimum depth: 731.866341 meters looking forward 100.000000 meters along route # Maximum depth: 732.059902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.866341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.370055; longitude = -118.142661; captureRadius = 10; duration = 219; initialDepth = 681.499029; finalDepth = 681.866341; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1935609999999 # Actual altitude: 50.1935609999999 # Commanded vehicle depth: 681.866341 # Seafloor depth: -732.059902 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.77; 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 = 200.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 109.579562 meters # Minimum depth: 731.499029 meters looking forward 100.000000 meters along route # Maximum depth: 731.784172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.499029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.369649; longitude = -118.143735; captureRadius = 10; duration = 219; initialDepth = 681.116131; finalDepth = 681.499029; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2851430000001 # Actual altitude: 50.2851430000001 # Commanded vehicle depth: 681.499029 # Seafloor depth: -731.784172 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 201.14; 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 = 201.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 109.580013 meters # Minimum depth: 731.116131 meters looking forward 100.000000 meters along route # Maximum depth: 731.403808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.116131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.369244; longitude = -118.144809; captureRadius = 10; duration = 219; initialDepth = 680.816267; finalDepth = 681.116131; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.287677 # Actual altitude: 50.287677 # Commanded vehicle depth: 681.116131 # Seafloor depth: -731.403808 # behavior reson { duration = RESON_DURATION; 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 2 # Segment length 109.580463 meters # Minimum depth: 730.816267 meters looking forward 100.000000 meters along route # Maximum depth: 731.017922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.816267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.368838; longitude = -118.145883; captureRadius = 10; duration = 219; initialDepth = 680.643675; finalDepth = 680.816267; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.287677 # Actual altitude: 50.287677 # Commanded vehicle depth: 680.816267 # Seafloor depth: -731.017922 # behavior reson { duration = RESON_DURATION; 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 2 # Segment length 118.221046 meters # Minimum depth: 730.643675 meters looking forward 100.000000 meters along route # Maximum depth: 730.783522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.643675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.368432; longitude = -118.146957; captureRadius = 10; duration = 236; initialDepth = 676.021462; finalDepth = 680.643675; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.201655 # Actual altitude: 50.201655 # Commanded vehicle depth: 680.643675 # Seafloor depth: -730.783522 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.81; 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 = 200.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 107.650353 meters # Minimum depth: 726.021462 meters looking forward 100.000000 meters along route # Maximum depth: 730.584089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.021462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.367995; longitude = -118.148116; captureRadius = 10; duration = 215; initialDepth = 676.223801; finalDepth = 676.021462; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 54.5626269999999 # Actual altitude: 54.5626269999999 # Commanded vehicle depth: 676.021462 # Seafloor depth: -730.584089 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 218.25; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.83; MB_Bottom_Detect_Filter_Max_Range = 218.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 147.421232 meters # Minimum depth: 726.223801 meters looking forward 100.000000 meters along route # Maximum depth: 732.661029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.223801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.367596; longitude = -118.149171; captureRadius = 10; duration = 294; # abortOnTimeout = True; initialDepth = 680.766117; finalDepth = 676.223801; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5626269999999 # Actual altitude: 54.5626269999999 # Commanded vehicle depth: 676.223801 # Seafloor depth: -726.223801 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 218.25; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.83; MB_Bottom_Detect_Filter_Max_Range = 218.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 130.592290 meters # Minimum depth: 730.766117 meters looking forward 100.000000 meters along route # Maximum depth: 734.613029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.766117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.366384; longitude = -118.148521; captureRadius = 10; duration = 261; initialDepth = 678.228940; finalDepth = 680.766117; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 680.766117 # Seafloor depth: -730.766117 # behavior reson { duration = RESON_DURATION; 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 102.033635 meters # Minimum depth: 728.228940 meters looking forward 100.000000 meters along route # Maximum depth: 731.807269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.228940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.365310; longitude = -118.147944; captureRadius = 10; duration = 204; initialDepth = 679.908432; finalDepth = 678.228940; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.865528 # Actual altitude: 51.865528 # Commanded vehicle depth: 678.22894 # Seafloor depth: -730.094468 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 207.46; 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 = 207.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 126.503436 meters # Minimum depth: 729.908432 meters looking forward 100.000000 meters along route # Maximum depth: 732.807361 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.908432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364471; longitude = -118.147494; captureRadius = 10; duration = 253; initialDepth = 674.682483; finalDepth = 679.908432; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9988920000001 # Actual altitude: 51.9988920000001 # Commanded vehicle depth: 679.908432 # Seafloor depth: -731.907324 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 208.00; 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 = 208.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 130.592933 meters # Minimum depth: 724.682483 meters looking forward 100.000000 meters along route # Maximum depth: 729.819882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.682483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363430; longitude = -118.146936; captureRadius = 10; duration = 261; initialDepth = 677.039055; finalDepth = 674.682483; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.137399 # Actual altitude: 55.137399 # Commanded vehicle depth: 674.682483 # Seafloor depth: -729.819882 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 220.55; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.05; MB_Bottom_Detect_Filter_Max_Range = 220.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 108.048749 meters # Minimum depth: 727.039055 meters looking forward 100.000000 meters along route # Maximum depth: 728.616661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 677.039055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362356; longitude = -118.146360; captureRadius = 10; duration = 216; initialDepth = 672.591161; finalDepth = 677.039055; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.137399 # Actual altitude: 55.137399 # Commanded vehicle depth: 677.039055 # Seafloor depth: -727.990892 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 220.55; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.05; MB_Bottom_Detect_Filter_Max_Range = 220.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 121.715445 meters # Minimum depth: 722.591161 meters looking forward 100.000000 meters along route # Maximum depth: 727.124639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.591161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361468; longitude = -118.145883; captureRadius = 10; duration = 243; initialDepth = 670.208262; finalDepth = 672.591161; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5334779999999 # Actual altitude: 54.5334779999999 # Commanded vehicle depth: 672.591161 # Seafloor depth: -727.124639 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 218.13; 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 = 218.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 129.367576 meters # Minimum depth: 720.208262 meters looking forward 100.000000 meters along route # Maximum depth: 727.347045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 670.208262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360467; longitude = -118.145346; captureRadius = 10; duration = 258; initialDepth = 670.158337; finalDepth = 670.208262; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.802 # Actual altitude: 54.802 # Commanded vehicle depth: 670.208262 # Seafloor depth: -725.010262 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 219.21; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.92; MB_Bottom_Detect_Filter_Max_Range = 219.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 130.593809 meters # Minimum depth: 720.158337 meters looking forward 100.000000 meters along route # Maximum depth: 726.729911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 670.158337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359403; longitude = -118.144776; captureRadius = 10; duration = 261; initialDepth = 672.469073; finalDepth = 670.158337; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.802 # Actual altitude: 54.802 # Commanded vehicle depth: 670.158337 # Seafloor depth: -720.158337 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 219.21; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.92; MB_Bottom_Detect_Filter_Max_Range = 219.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.186168 meters # Minimum depth: 722.469073 meters looking forward 100.000000 meters along route # Maximum depth: 725.876279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.469073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358329; longitude = -118.144200; captureRadius = 10; duration = 210; initialDepth = 672.554838; finalDepth = 672.469073; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.407206 # Actual altitude: 53.407206 # Commanded vehicle depth: 672.469073 # Seafloor depth: -725.876279 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 213.63; 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 = 213.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 123.353559 meters # Minimum depth: 722.554838 meters looking forward 100.000000 meters along route # Maximum depth: 743.937721 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.554838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357464; longitude = -118.143735; captureRadius = 10; duration = 246; initialDepth = 694.326367; finalDepth = 672.554838; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.407206 # Actual altitude: 53.407206 # Commanded vehicle depth: 672.554838 # Seafloor depth: -722.554838 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 213.63; 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 = 213.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 130.594451 meters # Minimum depth: 744.326367 meters looking forward 100.000000 meters along route # Maximum depth: 777.104122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.326367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356450; longitude = -118.143191; captureRadius = 10; duration = 261; initialDepth = 729.889090; finalDepth = 694.326367; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 694.326367 # Seafloor depth: -744.326367 # behavior reson { duration = RESON_DURATION; 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 130.594685 meters # Minimum depth: 779.889090 meters looking forward 100.000000 meters along route # Maximum depth: 798.216992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.889090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355376; longitude = -118.142615; captureRadius = 10; duration = 261; initialDepth = 744.425773; finalDepth = 729.889090; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 729.88909 # Seafloor depth: -779.889090 # behavior reson { duration = RESON_DURATION; 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 102.323550 meters # Minimum depth: 794.425773 meters looking forward 100.000000 meters along route # Maximum depth: 797.210815 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.425773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354302; longitude = -118.142039; captureRadius = 10; duration = 204; initialDepth = 742.832081; finalDepth = 744.425773; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.785042 # Actual altitude: 52.785042 # Commanded vehicle depth: 744.425773 # Seafloor depth: -797.210815 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 211.14; 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 = 211.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 126.217710 meters # Minimum depth: 792.832081 meters looking forward 100.000000 meters along route # Maximum depth: 794.666656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.832081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353460; longitude = -118.141588; captureRadius = 10; duration = 252; initialDepth = 741.965214; finalDepth = 742.832081; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.785042 # Actual altitude: 52.785042 # Commanded vehicle depth: 742.832081 # Seafloor depth: -794.525078 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 211.14; 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 = 211.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 130.595327 meters # Minimum depth: 791.965214 meters looking forward 100.000000 meters along route # Maximum depth: 793.433824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.965214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352422; longitude = -118.141031; captureRadius = 10; duration = 261; initialDepth = 740.801604; finalDepth = 741.965214; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.692997 # Actual altitude: 51.692997 # Commanded vehicle depth: 741.965214 # Seafloor depth: -793.141242 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.77; 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 = 206.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 108.338776 meters # Minimum depth: 790.801604 meters looking forward 100.000000 meters along route # Maximum depth: 791.896285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.801604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351348; longitude = -118.140455; captureRadius = 10; duration = 216; initialDepth = 739.128861; finalDepth = 740.801604; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1760280000001 # Actual altitude: 51.1760280000001 # Commanded vehicle depth: 740.801604 # Seafloor depth: -791.870581 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 204.70; 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 = 204.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 121.717677 meters # Minimum depth: 789.128861 meters looking forward 100.000000 meters along route # Maximum depth: 790.633933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.128861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350457; longitude = -118.139977; captureRadius = 10; duration = 243; initialDepth = 739.354526; finalDepth = 739.128861; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5050719999999 # Actual altitude: 51.5050719999999 # Commanded vehicle depth: 739.128861 # Seafloor depth: -790.633933 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.02; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 206.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 129.081901 meters # Minimum depth: 789.354526 meters looking forward 100.000000 meters along route # Maximum depth: 790.547499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.354526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349456; longitude = -118.139440; captureRadius = 10; duration = 258; initialDepth = 740.629007; finalDepth = 739.354526; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5050719999999 # Actual altitude: 51.5050719999999 # Commanded vehicle depth: 739.354526 # Seafloor depth: -790.392473 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 206.02; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 206.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 130.596203 meters # Minimum depth: 790.629007 meters looking forward 100.000000 meters along route # Maximum depth: 791.983823 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.629007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348395; longitude = -118.138870; captureRadius = 10; duration = 261; initialDepth = 742.188365; finalDepth = 740.629007; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.037947 # Actual altitude: 51.037947 # Commanded vehicle depth: 740.629007 # Seafloor depth: -790.629007 # behavior reson { duration = RESON_DURATION; 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 1 # Segment length 105.476145 meters # Minimum depth: 792.188365 meters looking forward 100.000000 meters along route # Maximum depth: 793.291774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.188365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347321; longitude = -118.138294; captureRadius = 10; duration = 210; initialDepth = 743.531700; finalDepth = 742.188365; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 742.188365 # Seafloor depth: -792.188365 # behavior reson { duration = RESON_DURATION; 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 123.067772 meters # Minimum depth: 793.531700 meters looking forward 100.000000 meters along route # Maximum depth: 797.861268 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.531700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346453; longitude = -118.137829; captureRadius = 10; duration = 246; initialDepth = 748.001327; finalDepth = 743.531700; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 743.5317 # Seafloor depth: -793.531700 # behavior reson { duration = RESON_DURATION; 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 130.596845 meters # Minimum depth: 798.001327 meters looking forward 100.000000 meters along route # Maximum depth: 805.282017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 748.001327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345441; longitude = -118.137286; captureRadius = 10; duration = 261; initialDepth = 729.848870; finalDepth = 748.001327; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 748.001327 # Seafloor depth: -798.001327 # behavior reson { duration = RESON_DURATION; 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 130.597079 meters # Minimum depth: 779.848870 meters looking forward 100.000000 meters along route # Maximum depth: 805.949864 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.848870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344367; longitude = -118.136710; captureRadius = 10; duration = 261; initialDepth = 694.333138; finalDepth = 729.848870; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.100994 # Actual altitude: 76.100994 # Commanded vehicle depth: 729.84887 # Seafloor depth: -805.949864 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 304.40; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.44; MB_Bottom_Detect_Filter_Max_Range = 304.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.613476 meters # Minimum depth: 744.333138 meters looking forward 100.000000 meters along route # Maximum depth: 772.978368 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.333138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343293; longitude = -118.136133; captureRadius = 10; duration = 205; initialDepth = 690.634552; finalDepth = 694.333138; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.6452300000001 # Actual altitude: 78.6452300000001 # Commanded vehicle depth: 694.333138 # Seafloor depth: -772.978368 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 314.58; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.46; MB_Bottom_Detect_Filter_Max_Range = 314.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 125.931974 meters # Minimum depth: 740.634552 meters looking forward 100.000000 meters along route # Maximum depth: 744.228753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.634552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342450; longitude = -118.135681; captureRadius = 10; duration = 251; initialDepth = 688.116170; finalDepth = 690.634552; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.6452300000001 # Actual altitude: 78.6452300000001 # Commanded vehicle depth: 690.634552 # Seafloor depth: -744.228753 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 314.58; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.46; MB_Bottom_Detect_Filter_Max_Range = 314.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 130.597722 meters # Minimum depth: 738.116170 meters looking forward 100.000000 meters along route # Maximum depth: 741.159905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.116170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341414; longitude = -118.135125; captureRadius = 10; duration = 261; initialDepth = 687.934200; finalDepth = 688.116170; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.594201 # Actual altitude: 53.594201 # Commanded vehicle depth: 688.11617 # Seafloor depth: -741.159905 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 214.38; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 214.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 108.628814 meters # Minimum depth: 737.934200 meters looking forward 100.000000 meters along route # Maximum depth: 739.284995 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.934200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340340; longitude = -118.134549; captureRadius = 10; duration = 217; initialDepth = 689.081794; finalDepth = 687.934200; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.043735 # Actual altitude: 53.043735 # Commanded vehicle depth: 687.9342 # Seafloor depth: -737.934200 # behavior reson { duration = RESON_DURATION; 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 1 # Segment length 121.719909 meters # Minimum depth: 739.081794 meters looking forward 100.000000 meters along route # Maximum depth: 741.236936 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.081794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339447; longitude = -118.134070; captureRadius = 10; duration = 243; initialDepth = 690.960946; finalDepth = 689.081794; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 689.081794 # Seafloor depth: -739.081794 # behavior reson { duration = RESON_DURATION; 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 128.796215 meters # Minimum depth: 740.960946 meters looking forward 100.000000 meters along route # Maximum depth: 741.962220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.960946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338446; longitude = -118.133533; captureRadius = 10; duration = 257; initialDepth = 688.401181; finalDepth = 690.960946; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1322699999999 # Actual altitude: 50.1322699999999 # Commanded vehicle depth: 690.960946 # Seafloor depth: -741.093216 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.53; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.05; MB_Bottom_Detect_Filter_Max_Range = 200.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 130.598598 meters # Minimum depth: 738.401181 meters looking forward 100.000000 meters along route # Maximum depth: 742.419572 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.401181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337387; longitude = -118.132965; captureRadius = 10; duration = 261; initialDepth = 689.924166; finalDepth = 688.401181; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4989250000001 # Actual altitude: 53.4989250000001 # Commanded vehicle depth: 688.401181 # Seafloor depth: -741.900106 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 214.00; 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 = 214.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.766133 meters # Minimum depth: 739.924166 meters looking forward 100.000000 meters along route # Maximum depth: 743.060316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.924166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336313; longitude = -118.132388; captureRadius = 10; duration = 211; initialDepth = 693.217497; finalDepth = 689.924166; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4989250000001 # Actual altitude: 53.4989250000001 # Commanded vehicle depth: 689.924166 # Seafloor depth: -739.924166 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 214.00; 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 = 214.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 122.781974 meters # Minimum depth: 743.217497 meters looking forward 100.000000 meters along route # Maximum depth: 744.746276 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.217497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335443; longitude = -118.131922; captureRadius = 10; duration = 245; initialDepth = 693.307286; finalDepth = 693.217497; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 693.217497 # Seafloor depth: -743.217497 # behavior reson { duration = RESON_DURATION; 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 130.599240 meters # Minimum depth: 743.307286 meters looking forward 100.000000 meters along route # Maximum depth: 744.547782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.307286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334433; longitude = -118.131380; captureRadius = 10; duration = 261; initialDepth = 694.429751; finalDepth = 693.307286; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.233829 # Actual altitude: 50.233829 # Commanded vehicle depth: 693.307286 # Seafloor depth: -743.541115 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.94; 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 = 200.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 130.599474 meters # Minimum depth: 744.429751 meters looking forward 100.000000 meters along route # Maximum depth: 745.044406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.429751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333359; longitude = -118.130804; captureRadius = 10; duration = 261; initialDepth = 691.703805; finalDepth = 694.429751; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.233829 # Actual altitude: 50.233829 # Commanded vehicle depth: 694.429751 # Seafloor depth: -744.446400 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 200.94; 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 = 200.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.903413 meters # Minimum depth: 741.703805 meters looking forward 100.000000 meters along route # Maximum depth: 745.958812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.703805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332285; longitude = -118.130228; captureRadius = 10; duration = 205; initialDepth = 691.085536; finalDepth = 691.703805; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.255007 # Actual altitude: 54.255007 # Commanded vehicle depth: 691.703805 # Seafloor depth: -745.958812 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 217.02; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.70; MB_Bottom_Detect_Filter_Max_Range = 217.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 125.646228 meters # Minimum depth: 741.085536 meters looking forward 100.000000 meters along route # Maximum depth: 743.426265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.085536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.331439; longitude = -118.129774; captureRadius = 10; duration = 251; initialDepth = 690.659786; finalDepth = 691.085536; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.255007 # Actual altitude: 54.255007 # Commanded vehicle depth: 691.085536 # Seafloor depth: -741.085536 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 217.02; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.70; MB_Bottom_Detect_Filter_Max_Range = 217.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 130.600116 meters # Minimum depth: 740.659786 meters looking forward 100.000000 meters along route # Maximum depth: 741.433226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.659786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.330406; longitude = -118.129220; captureRadius = 10; duration = 261; initialDepth = 689.426424; finalDepth = 690.659786; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7236379999999 # Actual altitude: 50.7236379999999 # Commanded vehicle depth: 690.659786 # Seafloor depth: -741.383424 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; MB_Range = 202.89; 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 = 202.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.083368 meters # Minimum depth: 739.426424 meters looking forward 100.000000 meters along route # Maximum depth: 741.212040 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 788.758282 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.426424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.329332; longitude = -118.128644; captureRadius = 10; duration = 200; initialDepth = 689.426424; finalDepth = 689.426424; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.928747 # Actual altitude: 50.928747 # Commanded vehicle depth: 689.426424 # Seafloor depth: -740.355171 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 203.71; 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 = 203.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.71; 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 = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 51.778608 # Sonar parameter altitude: 51.778608 # Commanded vehicle depth: 689.426424 # Seafloor depth: -741.205032 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 400.000; MB_Power = 220; 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; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 100.083368 meters # Minimum depth: 739.426424 meters looking forward 100.000000 meters along route # Maximum depth: 741.212040 meters looking forward 100.000000 meters along route # Vehicle depth: 689.426424 meters behavior waypoint { latitude = 33.328509; longitude = -118.128202; captureRadius = 10; duration = 344; depth = 689.426424; speed = MISSION_SPEED; } # # 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 689.426424 meters set by local depth and desired altitude behavior descend { duration = 2127; horizontalMode = rudder; horizontal = DESCENDRUDDER; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = SPIRAL_DESCENT_DEPTH; minAltitude = SPIRAL_DESCENT_ALTITUDE; } # # 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 100.083368 meters # Minimum depth: 739.426424 meters looking forward 100.000000 meters along route # Maximum depth: 741.212040 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 33.328509; longitude = -118.128202; captureRadius = 10; duration = 1000; depth = 50.000000; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 336.386564; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; duration = DESCEND_DURATION; } # # setpoint on surface to gather momentum behavior setpoint { duration = SETPOINT_DURATION; heading = 336.386564; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = RESON_DURATION; 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; } # 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