# 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_2v5.rte # Mission File: 2010_SanDiegoTrough_2v5.cfg # Distance: 87541.240507 (m) # Estimated Time: 60008 (s) 16.669 (hr) # Abort Time: 62083 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 916 (s) # Way Points: 64 # Route Points: 817 # 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: 0.6 # 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: 789.905587 (m) # Abort Vehicle Depth: 814.905587 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 683.521683 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 -743.521683 0.000000 3 # 1 -118.149171 33.367596 -723.527847 4753.073607 4 # 2 -118.141238 33.370593 -763.424316 5562.505581 3 # 3 -118.120272 33.331506 -765.496124 10315.429865 4 # 4 -118.113229 33.336159 -784.284531 11149.634112 3 # 5 -118.137021 33.327170 -749.849579 13578.095098 4 # 6 -118.137683 33.328403 -751.216156 13728.056647 3 # 7 -118.113891 33.337392 -795.170197 16156.489645 4 # 8 -118.114552 33.338626 -804.930328 16306.510510 3 # 9 -118.138344 33.329637 -747.912277 18734.915495 4 # 10 -118.139006 33.330870 -753.927414 18884.876427 3 # 11 -118.115213 33.339860 -809.982895 21313.383795 4 # 12 -118.115875 33.341093 -808.772186 21463.341135 3 # 13 -118.139667 33.332104 -744.803452 23891.690117 4 # 14 -118.140329 33.333337 -748.935303 24041.650431 3 # 15 -118.116536 33.342327 -812.070801 26470.101792 4 # 16 -118.117197 33.343561 -811.045410 26620.121426 3 # 17 -118.140991 33.334571 -744.700027 29048.629639 4 # 18 -118.141652 33.335804 -743.205231 29198.551119 3 # 19 -118.117859 33.344794 -809.858398 31626.946470 4 # 20 -118.118520 33.346028 -809.246582 31776.965489 3 # 21 -118.142314 33.337038 -743.912125 34205.417688 4 # 22 -118.142976 33.338271 -741.264572 34355.376769 3 # 23 -118.119182 33.347261 -809.071777 36783.800972 4 # 24 -118.119843 33.348495 -809.280273 36933.819376 3 # 25 -118.143638 33.339505 -741.741394 39362.300422 4 # 26 -118.144299 33.340738 -738.356491 39512.220672 3 # 27 -118.120505 33.349729 -809.583984 41940.634364 4 # 28 -118.121166 33.350962 -809.710449 42090.551027 3 # 29 -118.144961 33.341972 -740.957199 44518.976051 4 # 30 -118.145623 33.343205 -743.260895 44668.933899 3 # 31 -118.121828 33.352196 -809.662598 47097.376429 4 # 32 -118.122489 33.353430 -809.430176 47247.393601 3 # 33 -118.146285 33.344439 -743.246796 49675.892964 4 # 34 -118.146947 33.345672 -741.324799 49825.850195 3 # 35 -118.123151 33.354663 -809.093750 52254.321556 4 # 36 -118.123813 33.355897 -808.645996 52404.376289 3 # 37 -118.147608 33.346906 -738.206528 54832.734770 4 # 38 -118.148270 33.348139 -740.132217 54982.691385 3 # 39 -118.124474 33.357130 -808.016602 57411.106715 4 # 40 -118.125136 33.358364 -807.334473 57561.160831 3 # 41 -118.148932 33.349373 -737.864746 59989.548135 4 # 42 -118.149594 33.350606 -737.509460 60139.504132 3 # 43 -118.125798 33.359598 -788.415039 62567.908943 4 # 44 -118.126459 33.360831 -787.111816 62717.823142 3 # 45 -118.150256 33.351840 -736.689896 65146.239260 4 # 46 -118.150918 33.353073 -736.117752 65296.194641 3 # 47 -118.127121 33.362065 -785.697754 67724.628264 4 # 48 -118.127783 33.363298 -784.264160 67874.580042 3 # 49 -118.151580 33.354307 -731.921951 70302.940122 4 # 50 -118.152242 33.355540 -731.521469 70452.894886 3 # 51 -118.128444 33.364532 -782.597656 72881.357312 4 # 52 -118.129106 33.365766 -799.451172 73031.409576 3 # 53 -118.152904 33.356774 -730.044678 75459.843969 4 # 54 -118.153566 33.358007 -728.446411 75609.798116 3 # 55 -118.129768 33.366999 -797.574219 78038.204498 4 # 56 -118.130430 33.368233 -795.673340 78188.256144 3 # 57 -118.154228 33.359240 -727.624619 80616.680031 4 # 58 -118.154890 33.360474 -724.990646 80766.734664 3 # 59 -118.131091 33.369466 -793.548828 83195.169837 4 # 60 -118.131753 33.370700 -791.355957 83345.220866 3 # 61 -118.155552 33.361707 -725.771210 85773.673541 4 # 62 -118.156214 33.362941 -725.121078 85923.727558 3 # 63 -118.140388 33.368979 -765.166667 87541.240507 4 # # A total of 817 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 61200; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 789.905587; abortDepth = 814.905587; minAltitude = 50.000000; abortAltitude = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1000; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 63 # Segment length 134.256194 meters # Minimum depth: 763.908561 meters looking forward 100.000000 meters along route # Maximum depth: 765.166667 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.908561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.368979; longitude = -118.140388; captureRadius = 10; duration = 268; # abortOnTimeout = True; initialDepth = 712.967446; finalDepth = 713.908561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.258106 # Actual altitude: 51.258106 # Commanded vehicle depth: 713.908561 # Seafloor depth: -765.166667 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.03; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.75; MB_Bottom_Detect_Filter_Max_Range = 205.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 103.566349 meters # Minimum depth: 762.967446 meters looking forward 100.000000 meters along route # Maximum depth: 763.846028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.967446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.368478; longitude = -118.141702; captureRadius = 10; duration = 207; initialDepth = 711.947287; finalDepth = 712.967446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.258106 # Actual altitude: 51.258106 # Commanded vehicle depth: 712.967446 # Seafloor depth: -763.846028 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.03; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.75; MB_Bottom_Detect_Filter_Max_Range = 205.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 109.764970 meters # Minimum depth: 761.947287 meters looking forward 100.000000 meters along route # Maximum depth: 762.864838 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.947287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.368091; longitude = -118.142715; captureRadius = 10; duration = 219; initialDepth = 710.904800; finalDepth = 711.947287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.917551 # Actual altitude: 50.917551 # Commanded vehicle depth: 711.947287 # Seafloor depth: -762.864838 # behavior reson { duration = 6; 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 = 30.55; 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 63 # Segment length 109.765424 meters # Minimum depth: 760.904800 meters looking forward 100.000000 meters along route # Maximum depth: 761.847406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.904800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.367681; longitude = -118.143789; captureRadius = 10; duration = 219; initialDepth = 687.987167; finalDepth = 710.904800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.942606 # Actual altitude: 50.942606 # Commanded vehicle depth: 710.9048 # Seafloor depth: -761.847406 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.57; MB_Bottom_Detect_Filter_Max_Range = 203.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 108.445626 meters # Minimum depth: 737.987167 meters looking forward 100.000000 meters along route # Maximum depth: 760.847494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.987167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.367272; longitude = -118.144863; captureRadius = 10; duration = 216; initialDepth = 682.845741; finalDepth = 687.987167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.860327 # Actual altitude: 72.860327 # Commanded vehicle depth: 687.987167 # Seafloor depth: -760.847494 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 291.44; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.72; MB_Bottom_Detect_Filter_Max_Range = 291.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 100.109930 meters # Minimum depth: 732.845741 meters looking forward 100.000000 meters along route # Maximum depth: 737.463174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.845741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.366867; longitude = -118.145924; captureRadius = 10; duration = 200; initialDepth = 681.946590; finalDepth = 682.845741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.860327 # Actual altitude: 72.860327 # Commanded vehicle depth: 682.845741 # Seafloor depth: -737.463174 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 291.44; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.72; MB_Bottom_Detect_Filter_Max_Range = 291.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 109.766741 meters # Minimum depth: 731.946590 meters looking forward 100.000000 meters along route # Maximum depth: 734.439367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.946590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.366493; longitude = -118.146904; captureRadius = 10; duration = 219; initialDepth = 680.332866; finalDepth = 681.946590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.617433 # Actual altitude: 54.617433 # Commanded vehicle depth: 681.94659 # Seafloor depth: -732.427946 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.77; MB_Bottom_Detect_Filter_Max_Range = 218.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 106.592194 meters # Minimum depth: 730.332866 meters looking forward 100.000000 meters along route # Maximum depth: 735.116900 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.332866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.366083; longitude = -118.147978; captureRadius = 10; duration = 213; initialDepth = 675.106343; finalDepth = 680.332866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.438745 # Actual altitude: 54.438745 # Commanded vehicle depth: 680.332866 # Seafloor depth: -734.771611 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 217.75; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.66; MB_Bottom_Detect_Filter_Max_Range = 217.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 101.965865 meters # Minimum depth: 725.106343 meters looking forward 100.000000 meters along route # Maximum depth: 730.022236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.106343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.365686; longitude = -118.149020; captureRadius = 10; duration = 203; initialDepth = 673.066084; finalDepth = 675.106343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.915893 # Actual altitude: 54.915893 # Commanded vehicle depth: 675.106343 # Seafloor depth: -730.022236 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 219.66; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.95; MB_Bottom_Detect_Filter_Max_Range = 219.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 109.768058 meters # Minimum depth: 723.066084 meters looking forward 100.000000 meters along route # Maximum depth: 724.749918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.066084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.365305; longitude = -118.150018; captureRadius = 10; duration = 219; initialDepth = 671.063209; finalDepth = 673.066084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.915893 # Actual altitude: 54.915893 # Commanded vehicle depth: 673.066084 # Seafloor depth: -724.679900 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 219.66; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.95; MB_Bottom_Detect_Filter_Max_Range = 219.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 104.738717 meters # Minimum depth: 721.063209 meters looking forward 100.000000 meters along route # Maximum depth: 724.876312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.063209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364895; longitude = -118.151092; captureRadius = 10; duration = 209; initialDepth = 668.318843; finalDepth = 671.063209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.813103 # Actual altitude: 53.813103 # Commanded vehicle depth: 671.063209 # Seafloor depth: -724.876312 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 215.25; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.29; MB_Bottom_Detect_Filter_Max_Range = 215.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 103.821844 meters # Minimum depth: 718.318843 meters looking forward 100.000000 meters along route # Maximum depth: 720.761352 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 668.318843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364504; longitude = -118.152117; captureRadius = 10; duration = 207; initialDepth = 670.449691; finalDepth = 668.318843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.813103 # Actual altitude: 53.813103 # Commanded vehicle depth: 668.318843 # Seafloor depth: -720.761352 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 215.25; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.29; MB_Bottom_Detect_Filter_Max_Range = 215.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 109.769375 meters # Minimum depth: 720.449691 meters looking forward 100.000000 meters along route # Maximum depth: 721.367414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 670.449691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364117; longitude = -118.153133; captureRadius = 10; duration = 219; initialDepth = 671.537384; finalDepth = 670.449691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.442509 # Actual altitude: 52.442509 # Commanded vehicle depth: 670.449691 # Seafloor depth: -720.449691 # behavior reson { duration = 6; 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 = 31.47; 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 63 # Segment length 102.885197 meters # Minimum depth: 721.537384 meters looking forward 100.000000 meters along route # Maximum depth: 723.782591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.537384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363707; longitude = -118.154207; captureRadius = 10; duration = 205; initialDepth = 673.863387; finalDepth = 671.537384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 671.537384 # Seafloor depth: -721.537384 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.296465 meters # Minimum depth: 723.863387 meters looking forward 100.000000 meters along route # Maximum depth: 725.230797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.863387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363323; longitude = -118.155213; captureRadius = 10; duration = 204; initialDepth = 675.024016; finalDepth = 673.863387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 673.863387 # Seafloor depth: -723.863387 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 62 # Segment length 150.054017 meters # Minimum depth: 725.024016 meters looking forward 100.000000 meters along route # Maximum depth: 726.200220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.024016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362941; longitude = -118.156214; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 673.957952; finalDepth = 675.024016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50.0970620000001 # Actual altitude: 50.0970620000001 # Commanded vehicle depth: 675.024016 # Seafloor depth: -725.121078 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 200.39; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.06; MB_Bottom_Detect_Filter_Max_Range = 200.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 61 # Segment length 104.417489 meters # Minimum depth: 723.957952 meters looking forward 100.000000 meters along route # Maximum depth: 725.874429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.957952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361707; longitude = -118.155552; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 673.763469; finalDepth = 673.957952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.813258 # Actual altitude: 51.813258 # Commanded vehicle depth: 673.957952 # Seafloor depth: -725.771210 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.25; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.09; MB_Bottom_Detect_Filter_Max_Range = 207.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 109.591366 meters # Minimum depth: 723.763469 meters looking forward 100.000000 meters along route # Maximum depth: 724.371105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.763469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362094; longitude = -118.154529; captureRadius = 10; duration = 219; initialDepth = 672.778128; finalDepth = 673.763469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.813258 # Actual altitude: 51.813258 # Commanded vehicle depth: 673.763469 # Seafloor depth: -723.958076 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.25; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.09; MB_Bottom_Detect_Filter_Max_Range = 207.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 106.341749 meters # Minimum depth: 722.778128 meters looking forward 100.000000 meters along route # Maximum depth: 724.155676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.778128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362499; longitude = -118.153455; captureRadius = 10; duration = 212; initialDepth = 673.720678; finalDepth = 672.778128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3775479999999 # Actual altitude: 51.3775479999999 # Commanded vehicle depth: 672.778128 # Seafloor depth: -724.155676 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.51; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.83; MB_Bottom_Detect_Filter_Max_Range = 205.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 101.880604 meters # Minimum depth: 723.720678 meters looking forward 100.000000 meters along route # Maximum depth: 724.116216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.720678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362893; longitude = -118.152413; captureRadius = 10; duration = 203; initialDepth = 672.487371; finalDepth = 673.720678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3775479999999 # Actual altitude: 51.3775479999999 # Commanded vehicle depth: 673.720678 # Seafloor depth: -724.116216 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.51; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.83; MB_Bottom_Detect_Filter_Max_Range = 205.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 109.590058 meters # Minimum depth: 722.487371 meters looking forward 100.000000 meters along route # Maximum depth: 723.687292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.487371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363271; longitude = -118.151414; captureRadius = 10; duration = 219; initialDepth = 669.588994; finalDepth = 672.487371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1999209999999 # Actual altitude: 51.1999209999999 # Commanded vehicle depth: 672.487371 # Seafloor depth: -723.687292 # behavior reson { duration = 6; 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 = 30.72; 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 61 # Segment length 107.549340 meters # Minimum depth: 719.588994 meters looking forward 100.000000 meters along route # Maximum depth: 722.465446 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 669.588994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363676; longitude = -118.150340; captureRadius = 10; duration = 215; initialDepth = 669.560476; finalDepth = 669.588994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8764520000001 # Actual altitude: 52.8764520000001 # Commanded vehicle depth: 669.588994 # Seafloor depth: -722.465446 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.51; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.73; MB_Bottom_Detect_Filter_Max_Range = 211.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 100.670529 meters # Minimum depth: 719.560476 meters looking forward 100.000000 meters along route # Maximum depth: 728.018802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 669.560476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364075; longitude = -118.149286; captureRadius = 10; duration = 201; initialDepth = 678.617582; finalDepth = 669.560476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8764520000001 # Actual altitude: 52.8764520000001 # Commanded vehicle depth: 669.560476 # Seafloor depth: -719.560476 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.51; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.73; MB_Bottom_Detect_Filter_Max_Range = 211.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 102.340210 meters # Minimum depth: 728.617582 meters looking forward 100.000000 meters along route # Maximum depth: 731.685146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.617582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364447; longitude = -118.148300; captureRadius = 10; duration = 204; initialDepth = 680.086659; finalDepth = 678.617582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 678.617582 # Seafloor depth: -728.617582 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.878032 meters # Minimum depth: 730.086659 meters looking forward 100.000000 meters along route # Maximum depth: 731.411487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.086659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364826; longitude = -118.147297; captureRadius = 10; duration = 211; initialDepth = 682.305989; finalDepth = 680.086659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3248279999999 # Actual altitude: 51.3248279999999 # Commanded vehicle depth: 680.086659 # Seafloor depth: -731.411487 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.30; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.79; MB_Bottom_Detect_Filter_Max_Range = 205.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 109.587895 meters # Minimum depth: 732.305989 meters looking forward 100.000000 meters along route # Maximum depth: 736.329246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.305989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.365218; longitude = -118.146259; captureRadius = 10; duration = 219; initialDepth = 686.898213; finalDepth = 682.305989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3248279999999 # Actual altitude: 51.3248279999999 # Commanded vehicle depth: 682.305989 # Seafloor depth: -732.305989 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.30; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.79; MB_Bottom_Detect_Filter_Max_Range = 205.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 103.547825 meters # Minimum depth: 736.898213 meters looking forward 100.000000 meters along route # Maximum depth: 742.915937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.898213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.365624; longitude = -118.145185; captureRadius = 10; duration = 207; initialDepth = 693.242206; finalDepth = 686.898213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 686.898213 # Seafloor depth: -736.898213 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.667934 meters # Minimum depth: 743.242206 meters looking forward 100.000000 meters along route # Maximum depth: 763.198438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.242206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.366008; longitude = -118.144171; captureRadius = 10; duration = 209; initialDepth = 713.292346; finalDepth = 693.242206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 693.242206 # Seafloor depth: -743.242206 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.586588 meters # Minimum depth: 763.292346 meters looking forward 100.000000 meters along route # Maximum depth: 764.194650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.292346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.366395; longitude = -118.143145; captureRadius = 10; duration = 219; initialDepth = 714.288260; finalDepth = 713.292346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 713.292346 # Seafloor depth: -763.292346 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.755410 meters # Minimum depth: 764.288260 meters looking forward 100.000000 meters along route # Maximum depth: 765.206868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.288260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.366801; longitude = -118.142071; captureRadius = 10; duration = 209; initialDepth = 715.264118; finalDepth = 714.288260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 714.28826 # Seafloor depth: -764.288260 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.457865 meters # Minimum depth: 765.264118 meters looking forward 100.000000 meters along route # Maximum depth: 766.144301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.264118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.367189; longitude = -118.141044; captureRadius = 10; duration = 206; initialDepth = 716.250482; finalDepth = 715.264118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 715.264118 # Seafloor depth: -765.264118 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.585282 meters # Minimum depth: 766.250482 meters looking forward 100.000000 meters along route # Maximum depth: 767.222412 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.250482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.367572; longitude = -118.140030; captureRadius = 10; duration = 219; initialDepth = 717.330078; finalDepth = 716.250482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 716.250482 # Seafloor depth: -766.250482 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.962967 meters # Minimum depth: 767.330078 meters looking forward 100.000000 meters along route # Maximum depth: 768.327771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.330078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.367978; longitude = -118.138956; captureRadius = 10; duration = 211; initialDepth = 718.407938; finalDepth = 717.330078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 717.330078 # Seafloor depth: -767.330078 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.247826 meters # Minimum depth: 768.407938 meters looking forward 100.000000 meters along route # Maximum depth: 769.348826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.407938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.368370; longitude = -118.137918; captureRadius = 10; duration = 204; initialDepth = 719.465691; finalDepth = 718.407938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 718.407938 # Seafloor depth: -768.407938 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.583974 meters # Minimum depth: 769.465691 meters looking forward 100.000000 meters along route # Maximum depth: 770.535942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.465691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.368749; longitude = -118.136916; captureRadius = 10; duration = 219; initialDepth = 720.631448; finalDepth = 719.465691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 719.465691 # Seafloor depth: -769.465691 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.170497 meters # Minimum depth: 770.631448 meters looking forward 100.000000 meters along route # Maximum depth: 785.799213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.631448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.369155; longitude = -118.135842; captureRadius = 10; duration = 214; initialDepth = 735.984478; finalDepth = 720.631448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 720.631448 # Seafloor depth: -770.631448 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.037814 meters # Minimum depth: 785.984478 meters looking forward 100.000000 meters along route # Maximum depth: 787.806866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.984478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.369552; longitude = -118.134792; captureRadius = 10; duration = 202; initialDepth = 737.997525; finalDepth = 735.984478; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 735.984478 # Seafloor depth: -785.984478 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.961659 meters # Minimum depth: 787.997525 meters looking forward 100.000000 meters along route # Maximum depth: 789.681160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.997525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.369926; longitude = -118.133801; captureRadius = 10; duration = 203; initialDepth = 739.732377; finalDepth = 737.997525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 737.997525 # Seafloor depth: -787.997525 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.039762 meters # Minimum depth: 789.732377 meters looking forward 100.000000 meters along route # Maximum depth: 791.248382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.732377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.370304; longitude = -118.132802; captureRadius = 10; duration = 214; initialDepth = 741.355957; finalDepth = 739.732377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 739.732377 # Seafloor depth: -789.732377 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 60 # Segment length 150.051029 meters # Minimum depth: 791.355957 meters looking forward 100.000000 meters along route # Maximum depth: 793.450981 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.355957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.370700; longitude = -118.131753; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 742.228674; finalDepth = 741.355957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 741.355957 # Seafloor depth: -791.355957 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 59 # Segment length 101.216287 meters # Minimum depth: 792.228674 meters looking forward 100.000000 meters along route # Maximum depth: 793.548828 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.228674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.369466; longitude = -118.131091; captureRadius = 10; duration = 202; # abortOnTimeout = True; initialDepth = 740.490020; finalDepth = 742.228674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.320154 # Actual altitude: 51.320154 # Commanded vehicle depth: 742.228674 # Seafloor depth: -793.548828 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.28; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.79; MB_Bottom_Detect_Filter_Max_Range = 205.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 107.629426 meters # Minimum depth: 790.490020 meters looking forward 100.000000 meters along route # Maximum depth: 792.095714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.490020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.369091; longitude = -118.132083; captureRadius = 10; duration = 215; initialDepth = 723.285292; finalDepth = 740.490020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6056940000001 # Actual altitude: 51.6056940000001 # Commanded vehicle depth: 740.49002 # Seafloor depth: -792.095714 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.42; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.96; MB_Bottom_Detect_Filter_Max_Range = 206.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 100.576544 meters # Minimum depth: 773.285292 meters looking forward 100.000000 meters along route # Maximum depth: 790.330687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.285292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.368693; longitude = -118.133138; captureRadius = 10; duration = 201; initialDepth = 722.089786; finalDepth = 723.285292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.045395 # Actual altitude: 67.045395 # Commanded vehicle depth: 723.285292 # Seafloor depth: -790.330687 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 268.18; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.23; MB_Bottom_Detect_Filter_Max_Range = 268.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 102.444818 meters # Minimum depth: 772.089786 meters looking forward 100.000000 meters along route # Maximum depth: 773.161639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.089786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.368320; longitude = -118.134124; captureRadius = 10; duration = 204; initialDepth = 721.028748; finalDepth = 722.089786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.045395 # Actual altitude: 67.045395 # Commanded vehicle depth: 722.089786 # Seafloor depth: -773.161639 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 268.18; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.23; MB_Bottom_Detect_Filter_Max_Range = 268.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 105.762778 meters # Minimum depth: 771.028748 meters looking forward 100.000000 meters along route # Maximum depth: 772.045996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.028748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.367941; longitude = -118.135128; captureRadius = 10; duration = 211; initialDepth = 719.900828; finalDepth = 721.028748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.071853 # Actual altitude: 51.071853 # Commanded vehicle depth: 721.028748 # Seafloor depth: -772.045996 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.29; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.64; MB_Bottom_Detect_Filter_Max_Range = 204.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 109.583598 meters # Minimum depth: 769.900828 meters looking forward 100.000000 meters along route # Maximum depth: 770.918290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.900828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.367549; longitude = -118.136164; captureRadius = 10; duration = 219; initialDepth = 718.810081; finalDepth = 719.900828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0174619999999 # Actual altitude: 51.0174619999999 # Commanded vehicle depth: 719.900828 # Seafloor depth: -770.918290 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.07; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.61; MB_Bottom_Detect_Filter_Max_Range = 204.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 103.690318 meters # Minimum depth: 768.810081 meters looking forward 100.000000 meters along route # Maximum depth: 769.786908 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.810081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.367143; longitude = -118.137238; captureRadius = 10; duration = 207; initialDepth = 717.848730; finalDepth = 718.810081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0174619999999 # Actual altitude: 51.0174619999999 # Commanded vehicle depth: 718.810081 # Seafloor depth: -769.786908 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.07; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.61; MB_Bottom_Detect_Filter_Max_Range = 204.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 104.519759 meters # Minimum depth: 767.848730 meters looking forward 100.000000 meters along route # Maximum depth: 768.758930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.848730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.366760; longitude = -118.138254; captureRadius = 10; duration = 209; initialDepth = 716.818620; finalDepth = 717.848730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9768270000001 # Actual altitude: 50.9768270000001 # Commanded vehicle depth: 717.84873 # Seafloor depth: -768.758930 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.91; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.59; MB_Bottom_Detect_Filter_Max_Range = 203.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 109.584905 meters # Minimum depth: 766.818620 meters looking forward 100.000000 meters along route # Maximum depth: 767.749037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.818620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.366373; longitude = -118.139279; captureRadius = 10; duration = 219; initialDepth = 715.831683; finalDepth = 716.818620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.930417 # Actual altitude: 50.930417 # Commanded vehicle depth: 716.81862 # Seafloor depth: -767.749037 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.72; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.56; MB_Bottom_Detect_Filter_Max_Range = 203.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 104.935847 meters # Minimum depth: 765.831683 meters looking forward 100.000000 meters along route # Maximum depth: 766.721601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.831683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.365967; longitude = -118.140352; captureRadius = 10; duration = 209; initialDepth = 703.559089; finalDepth = 715.831683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.930417 # Actual altitude: 50.930417 # Commanded vehicle depth: 715.831683 # Seafloor depth: -766.721601 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.72; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.56; MB_Bottom_Detect_Filter_Max_Range = 203.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 103.276713 meters # Minimum depth: 753.559089 meters looking forward 100.000000 meters along route # Maximum depth: 765.775987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.559089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.365578; longitude = -118.141381; captureRadius = 10; duration = 206; initialDepth = 694.227098; finalDepth = 703.559089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.216898 # Actual altitude: 62.216898 # Commanded vehicle depth: 703.559089 # Seafloor depth: -765.775987 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 248.87; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.33; MB_Bottom_Detect_Filter_Max_Range = 248.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 109.586211 meters # Minimum depth: 744.227098 meters looking forward 100.000000 meters along route # Maximum depth: 752.667578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.227098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.365196; longitude = -118.142393; captureRadius = 10; duration = 219; initialDepth = 684.641729; finalDepth = 694.227098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.216898 # Actual altitude: 62.216898 # Commanded vehicle depth: 694.227098 # Seafloor depth: -752.667578 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 248.87; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.33; MB_Bottom_Detect_Filter_Max_Range = 248.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 106.181407 meters # Minimum depth: 734.641729 meters looking forward 100.000000 meters along route # Maximum depth: 743.373927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.641729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364790; longitude = -118.143467; captureRadius = 10; duration = 212; initialDepth = 669.289455; finalDepth = 684.641729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.7321979999999 # Actual altitude: 58.7321979999999 # Commanded vehicle depth: 684.641729 # Seafloor depth: -743.373927 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 234.93; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.24; MB_Bottom_Detect_Filter_Max_Range = 234.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 102.033635 meters # Minimum depth: 719.289455 meters looking forward 100.000000 meters along route # Maximum depth: 733.874273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 669.289455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364397; longitude = -118.144508; captureRadius = 10; duration = 204; initialDepth = 675.065421; finalDepth = 669.289455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.584818 # Actual altitude: 64.584818 # Commanded vehicle depth: 669.289455 # Seafloor depth: -733.874273 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 258.34; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.75; MB_Bottom_Detect_Filter_Max_Range = 258.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 258.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 109.587518 meters # Minimum depth: 725.065421 meters looking forward 100.000000 meters along route # Maximum depth: 730.454825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.065421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364019; longitude = -118.145507; captureRadius = 10; duration = 219; initialDepth = 674.562488; finalDepth = 675.065421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.584818 # Actual altitude: 64.584818 # Commanded vehicle depth: 675.065421 # Seafloor depth: -725.065421 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 258.34; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.75; MB_Bottom_Detect_Filter_Max_Range = 258.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 258.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 107.426996 meters # Minimum depth: 724.562488 meters looking forward 100.000000 meters along route # Maximum depth: 730.800153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.562488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363613; longitude = -118.146581; captureRadius = 10; duration = 214; initialDepth = 672.080348; finalDepth = 674.562488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.623733 # Actual altitude: 55.623733 # Commanded vehicle depth: 674.562488 # Seafloor depth: -730.186221 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.49; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.37; MB_Bottom_Detect_Filter_Max_Range = 222.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 100.790530 meters # Minimum depth: 722.080348 meters looking forward 100.000000 meters along route # Maximum depth: 723.779407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.080348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363215; longitude = -118.147634; captureRadius = 10; duration = 201; initialDepth = 672.588747; finalDepth = 672.080348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.623733 # Actual altitude: 55.623733 # Commanded vehicle depth: 672.080348 # Seafloor depth: -723.779407 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.49; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.37; MB_Bottom_Detect_Filter_Max_Range = 222.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 102.242100 meters # Minimum depth: 722.588747 meters looking forward 100.000000 meters along route # Maximum depth: 723.726594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.588747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362842; longitude = -118.148622; captureRadius = 10; duration = 204; initialDepth = 672.373654; finalDepth = 672.588747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.699059 # Actual altitude: 51.699059 # Commanded vehicle depth: 672.588747 # Seafloor depth: -722.588747 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.80; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.02; MB_Bottom_Detect_Filter_Max_Range = 206.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 105.977053 meters # Minimum depth: 722.373654 meters looking forward 100.000000 meters along route # Maximum depth: 723.451620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.373654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362464; longitude = -118.149624; captureRadius = 10; duration = 211; initialDepth = 673.673323; finalDepth = 672.373654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0779660000001 # Actual altitude: 51.0779660000001 # Commanded vehicle depth: 672.373654 # Seafloor depth: -723.451620 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.31; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.65; MB_Bottom_Detect_Filter_Max_Range = 204.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 109.589681 meters # Minimum depth: 723.673323 meters looking forward 100.000000 meters along route # Maximum depth: 724.269506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.673323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362071; longitude = -118.150662; captureRadius = 10; duration = 219; initialDepth = 673.554427; finalDepth = 673.673323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0779660000001 # Actual altitude: 51.0779660000001 # Commanded vehicle depth: 673.673323 # Seafloor depth: -723.673323 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.31; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.65; MB_Bottom_Detect_Filter_Max_Range = 204.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 109.590132 meters # Minimum depth: 723.554427 meters looking forward 100.000000 meters along route # Maximum depth: 724.902874 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.554427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361666; longitude = -118.151736; captureRadius = 10; duration = 219; initialDepth = 674.209798; finalDepth = 673.554427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.470188 # Actual altitude: 50.470188 # Commanded vehicle depth: 673.554427 # Seafloor depth: -724.024615 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.88; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.28; MB_Bottom_Detect_Filter_Max_Range = 201.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 109.918264 meters # Minimum depth: 724.209798 meters looking forward 100.000000 meters along route # Maximum depth: 725.931125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.209798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361260; longitude = -118.152810; captureRadius = 10; duration = 219; initialDepth = 674.871945; finalDepth = 674.209798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.653412 # Actual altitude: 50.653412 # Commanded vehicle depth: 674.209798 # Seafloor depth: -724.863210 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.61; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.39; MB_Bottom_Detect_Filter_Max_Range = 202.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 102.290653 meters # Minimum depth: 724.871945 meters looking forward 100.000000 meters along route # Maximum depth: 726.387652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.871945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360853; longitude = -118.153888; captureRadius = 10; duration = 204; initialDepth = 674.990646; finalDepth = 674.871945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.6780690000001 # Actual altitude: 50.6780690000001 # Commanded vehicle depth: 674.871945 # Seafloor depth: -725.550014 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; 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 = 30.41; 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; } # ####################################################### # # 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: 724.990646 meters looking forward 100.000000 meters along route # Maximum depth: 727.311030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.990646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360474; longitude = -118.154890; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 675.341299; finalDepth = 674.990646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50.6780690000001 # Actual altitude: 50.6780690000001 # Commanded vehicle depth: 674.990646 # Seafloor depth: -724.990646 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; 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 = 30.41; 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 to get to end of line 57 # Segment length 100.823700 meters # Minimum depth: 725.341299 meters looking forward 100.000000 meters along route # Maximum depth: 727.624619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.341299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359240; longitude = -118.154228; captureRadius = 10; duration = 201; # abortOnTimeout = True; initialDepth = 674.966798; finalDepth = 675.341299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.28332 # Actual altitude: 52.28332 # Commanded vehicle depth: 675.341299 # Seafloor depth: -727.624619 # behavior reson { duration = 6; 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 = 31.37; 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 57 # Segment length 102.676801 meters # Minimum depth: 724.966798 meters looking forward 100.000000 meters along route # Maximum depth: 726.873686 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.966798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359613; longitude = -118.153240; captureRadius = 10; duration = 205; initialDepth = 673.928420; finalDepth = 674.966798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.28332 # Actual altitude: 52.28332 # Commanded vehicle depth: 674.966798 # Seafloor depth: -725.707747 # behavior reson { duration = 6; 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 = 31.37; 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 57 # Segment length 105.552716 meters # Minimum depth: 723.928420 meters looking forward 100.000000 meters along route # Maximum depth: 725.468777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.928420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359994; longitude = -118.152234; captureRadius = 10; duration = 211; initialDepth = 672.979609; finalDepth = 673.928420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5403570000001 # Actual altitude: 51.5403570000001 # Commanded vehicle depth: 673.92842 # Seafloor depth: -725.468777 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.16; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.92; MB_Bottom_Detect_Filter_Max_Range = 206.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 109.593830 meters # Minimum depth: 722.979609 meters looking forward 100.000000 meters along route # Maximum depth: 723.638072 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.979609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360384; longitude = -118.151199; captureRadius = 10; duration = 219; initialDepth = 671.347136; finalDepth = 672.979609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5403570000001 # Actual altitude: 51.5403570000001 # Commanded vehicle depth: 672.979609 # Seafloor depth: -723.638072 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.16; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.92; MB_Bottom_Detect_Filter_Max_Range = 206.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 103.871072 meters # Minimum depth: 721.347136 meters looking forward 100.000000 meters along route # Maximum depth: 724.446711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.347136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360790; longitude = -118.150126; captureRadius = 10; duration = 207; initialDepth = 668.142567; finalDepth = 671.347136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.263418 # Actual altitude: 52.263418 # Commanded vehicle depth: 671.347136 # Seafloor depth: -723.610554 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.36; MB_Bottom_Detect_Filter_Max_Range = 209.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 104.355961 meters # Minimum depth: 718.142567 meters looking forward 100.000000 meters along route # Maximum depth: 721.137794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 668.142567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361175; longitude = -118.149108; captureRadius = 10; duration = 208; initialDepth = 666.875278; finalDepth = 668.142567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.995227 # Actual altitude: 52.995227 # Commanded vehicle depth: 668.142567 # Seafloor depth: -721.137794 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.98; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.80; MB_Bottom_Detect_Filter_Max_Range = 211.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 109.592523 meters # Minimum depth: 716.875278 meters looking forward 100.000000 meters along route # Maximum depth: 721.790329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 666.875278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361561; longitude = -118.148085; captureRadius = 10; duration = 219; initialDepth = 672.667766; finalDepth = 666.875278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.995227 # Actual altitude: 52.995227 # Commanded vehicle depth: 666.875278 # Seafloor depth: -717.678944 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.98; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.80; MB_Bottom_Detect_Filter_Max_Range = 211.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 105.065314 meters # Minimum depth: 722.667766 meters looking forward 100.000000 meters along route # Maximum depth: 728.245211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.667766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361967; longitude = -118.147011; captureRadius = 10; duration = 210; initialDepth = 678.334775; finalDepth = 672.667766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.803666 # Actual altitude: 50.803666 # Commanded vehicle depth: 672.667766 # Seafloor depth: -722.667766 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.21; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.48; 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 57 # Segment length 103.159236 meters # Minimum depth: 728.334775 meters looking forward 100.000000 meters along route # Maximum depth: 732.220817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.334775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362356; longitude = -118.145981; captureRadius = 10; duration = 206; initialDepth = 680.061401; finalDepth = 678.334775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 678.334775 # Seafloor depth: -728.334775 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.591215 meters # Minimum depth: 730.061401 meters looking forward 100.000000 meters along route # Maximum depth: 732.057789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.061401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362738; longitude = -118.144970; captureRadius = 10; duration = 219; initialDepth = 680.190326; finalDepth = 680.061401; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9963879999999 # Actual altitude: 51.9963879999999 # Commanded vehicle depth: 680.061401 # Seafloor depth: -732.057789 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.99; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.20; MB_Bottom_Detect_Filter_Max_Range = 207.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 106.259528 meters # Minimum depth: 730.190326 meters looking forward 100.000000 meters along route # Maximum depth: 742.328923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.190326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363144; longitude = -118.143897; captureRadius = 10; duration = 212; initialDepth = 693.330113; finalDepth = 680.190326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9963879999999 # Actual altitude: 51.9963879999999 # Commanded vehicle depth: 680.190326 # Seafloor depth: -730.190326 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.99; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.20; MB_Bottom_Detect_Filter_Max_Range = 207.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 101.962539 meters # Minimum depth: 743.330113 meters looking forward 100.000000 meters along route # Maximum depth: 754.331700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.330113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363538; longitude = -118.142855; captureRadius = 10; duration = 203; initialDepth = 705.545402; finalDepth = 693.330113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 693.330113 # Seafloor depth: -743.330113 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.589908 meters # Minimum depth: 755.545402 meters looking forward 100.000000 meters along route # Maximum depth: 764.898391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.545402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363915; longitude = -118.141856; captureRadius = 10; duration = 219; initialDepth = 715.546995; finalDepth = 705.545402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 705.545402 # Seafloor depth: -755.545402 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.453714 meters # Minimum depth: 765.546995 meters looking forward 100.000000 meters along route # Maximum depth: 768.089157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.546995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364321; longitude = -118.140782; captureRadius = 10; duration = 214; initialDepth = 718.167426; finalDepth = 715.546995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 715.546995 # Seafloor depth: -765.546995 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.765871 meters # Minimum depth: 768.167426 meters looking forward 100.000000 meters along route # Maximum depth: 768.977761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.167426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364719; longitude = -118.139729; captureRadius = 10; duration = 201; initialDepth = 719.081762; finalDepth = 718.167426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 718.167426 # Seafloor depth: -768.167426 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.236062 meters # Minimum depth: 769.081762 meters looking forward 100.000000 meters along route # Maximum depth: 770.012164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.081762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.365092; longitude = -118.138742; captureRadius = 10; duration = 204; initialDepth = 720.044398; finalDepth = 719.081762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 719.081762 # Seafloor depth: -769.081762 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.981896 meters # Minimum depth: 770.044398 meters looking forward 100.000000 meters along route # Maximum depth: 770.981837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.044398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.365471; longitude = -118.137740; captureRadius = 10; duration = 211; initialDepth = 721.092437; finalDepth = 720.044398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 720.044398 # Seafloor depth: -770.044398 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.587746 meters # Minimum depth: 771.092437 meters looking forward 100.000000 meters along route # Maximum depth: 772.092666 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.092437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.365863; longitude = -118.136701; captureRadius = 10; duration = 219; initialDepth = 722.207872; finalDepth = 721.092437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 721.092437 # Seafloor depth: -771.092437 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.430273 meters # Minimum depth: 772.207872 meters looking forward 100.000000 meters along route # Maximum depth: 773.246043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.207872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.366269; longitude = -118.135627; captureRadius = 10; duration = 206; initialDepth = 723.298186; finalDepth = 722.207872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 722.207872 # Seafloor depth: -772.207872 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.785203 meters # Minimum depth: 773.298186 meters looking forward 100.000000 meters along route # Maximum depth: 774.323063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.298186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.366652; longitude = -118.134613; captureRadius = 10; duration = 209; initialDepth = 724.437605; finalDepth = 723.298186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 723.298186 # Seafloor depth: -773.298186 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.586440 meters # Minimum depth: 774.437605 meters looking forward 100.000000 meters along route # Maximum depth: 775.542242 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.437605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.367040; longitude = -118.133587; captureRadius = 10; duration = 219; initialDepth = 725.666396; finalDepth = 724.437605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 724.437605 # Seafloor depth: -774.437605 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.585989 meters # Minimum depth: 775.666396 meters looking forward 100.000000 meters along route # Maximum depth: 794.115396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.666396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.367446; longitude = -118.132513; captureRadius = 10; duration = 219; initialDepth = 744.189476; finalDepth = 725.666396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 725.666396 # Seafloor depth: -775.666396 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.916350 meters # Minimum depth: 794.189476 meters looking forward 100.000000 meters along route # Maximum depth: 795.579461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.189476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.367852; longitude = -118.131439; captureRadius = 10; duration = 205; initialDepth = 745.673340; finalDepth = 744.189476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 744.189476 # Seafloor depth: -794.189476 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 56 # Segment length 150.051646 meters # Minimum depth: 795.673340 meters looking forward 100.000000 meters along route # Maximum depth: 797.475637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.673340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.368233; longitude = -118.130430; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 746.302913; finalDepth = 745.673340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 745.67334 # Seafloor depth: -795.673340 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 55 # Segment length 104.713915 meters # Minimum depth: 796.302913 meters looking forward 100.000000 meters along route # Maximum depth: 797.574219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 746.302913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.366999; longitude = -118.129768; captureRadius = 10; duration = 209; # abortOnTimeout = True; initialDepth = 727.257572; finalDepth = 746.302913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.271306 # Actual altitude: 51.271306 # Commanded vehicle depth: 746.302913 # Seafloor depth: -797.574219 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.09; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.76; MB_Bottom_Detect_Filter_Max_Range = 205.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 104.968805 meters # Minimum depth: 777.257572 meters looking forward 100.000000 meters along route # Maximum depth: 789.379692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 727.257572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.366611; longitude = -118.130794; captureRadius = 10; duration = 209; initialDepth = 726.150575; finalDepth = 727.257572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.12212 # Actual altitude: 62.12212 # Commanded vehicle depth: 727.257572 # Seafloor depth: -789.379692 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 248.49; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.27; MB_Bottom_Detect_Filter_Max_Range = 248.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 103.243473 meters # Minimum depth: 776.150575 meters looking forward 100.000000 meters along route # Maximum depth: 777.185885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.150575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.366223; longitude = -118.131823; captureRadius = 10; duration = 206; initialDepth = 724.927288; finalDepth = 726.150575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.12212 # Actual altitude: 62.12212 # Commanded vehicle depth: 726.150575 # Seafloor depth: -777.185885 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 248.49; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.27; MB_Bottom_Detect_Filter_Max_Range = 248.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 109.586063 meters # Minimum depth: 774.927288 meters looking forward 100.000000 meters along route # Maximum depth: 776.028661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.927288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.365840; longitude = -118.132835; captureRadius = 10; duration = 219; initialDepth = 723.771723; finalDepth = 724.927288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1013730000001 # Actual altitude: 51.1013730000001 # Commanded vehicle depth: 724.927288 # Seafloor depth: -776.028661 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.41; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.66; MB_Bottom_Detect_Filter_Max_Range = 204.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 106.200957 meters # Minimum depth: 773.771723 meters looking forward 100.000000 meters along route # Maximum depth: 774.825139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.771723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.365434; longitude = -118.133909; captureRadius = 10; duration = 212; initialDepth = 722.758992; finalDepth = 723.771723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1013730000001 # Actual altitude: 51.1013730000001 # Commanded vehicle depth: 723.771723 # Seafloor depth: -774.825139 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.41; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.66; MB_Bottom_Detect_Filter_Max_Range = 204.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 102.013803 meters # Minimum depth: 772.758992 meters looking forward 100.000000 meters along route # Maximum depth: 773.697281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.758992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.365041; longitude = -118.134949; captureRadius = 10; duration = 204; initialDepth = 721.666905; finalDepth = 722.758992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0534160000001 # Actual altitude: 51.0534160000001 # Commanded vehicle depth: 722.758992 # Seafloor depth: -773.697281 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.21; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.63; MB_Bottom_Detect_Filter_Max_Range = 204.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 109.587369 meters # Minimum depth: 771.666905 meters looking forward 100.000000 meters along route # Maximum depth: 772.651407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.666905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364663; longitude = -118.135949; captureRadius = 10; duration = 219; initialDepth = 720.666156; finalDepth = 721.666905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9845019999999 # Actual altitude: 50.9845019999999 # Commanded vehicle depth: 721.666905 # Seafloor depth: -772.651407 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.94; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.59; MB_Bottom_Detect_Filter_Max_Range = 203.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 107.433139 meters # Minimum depth: 770.666156 meters looking forward 100.000000 meters along route # Maximum depth: 771.583520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.666156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364258; longitude = -118.137023; captureRadius = 10; duration = 214; initialDepth = 719.787885; finalDepth = 720.666156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9845019999999 # Actual altitude: 50.9845019999999 # Commanded vehicle depth: 720.666156 # Seafloor depth: -771.583520 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.94; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.59; MB_Bottom_Detect_Filter_Max_Range = 203.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 100.784103 meters # Minimum depth: 769.787885 meters looking forward 100.000000 meters along route # Maximum depth: 770.587077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.787885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363860; longitude = -118.138076; captureRadius = 10; duration = 201; initialDepth = 719.685736; finalDepth = 719.787885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.917364 # Actual altitude: 50.917364 # Commanded vehicle depth: 719.787885 # Seafloor depth: -770.587077 # behavior reson { duration = 6; 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 = 30.55; 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 55 # Segment length 102.239718 meters # Minimum depth: 769.685736 meters looking forward 100.000000 meters along route # Maximum depth: 778.905126 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.685736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363487; longitude = -118.139064; captureRadius = 10; duration = 204; initialDepth = 718.917181; finalDepth = 719.685736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7991920000001 # Actual altitude: 50.7991920000001 # Commanded vehicle depth: 719.685736 # Seafloor depth: -769.685736 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.20; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.48; 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 55 # Segment length 105.979151 meters # Minimum depth: 768.917181 meters looking forward 100.000000 meters along route # Maximum depth: 776.111056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.917181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363108; longitude = -118.140066; captureRadius = 10; duration = 211; initialDepth = 699.132900; finalDepth = 718.917181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1938749999999 # Actual altitude: 57.1938749999999 # Commanded vehicle depth: 718.917181 # Seafloor depth: -776.111056 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 228.78; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.32; MB_Bottom_Detect_Filter_Max_Range = 228.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 109.589531 meters # Minimum depth: 749.132900 meters looking forward 100.000000 meters along route # Maximum depth: 767.526920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.132900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362716; longitude = -118.141104; captureRadius = 10; duration = 219; initialDepth = 687.000089; finalDepth = 699.132900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.3940200000001 # Actual altitude: 68.3940200000001 # Commanded vehicle depth: 699.1329 # Seafloor depth: -767.526920 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 273.58; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.04; MB_Bottom_Detect_Filter_Max_Range = 273.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 103.471876 meters # Minimum depth: 737.000089 meters looking forward 100.000000 meters along route # Maximum depth: 746.568218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.000089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362310; longitude = -118.142178; captureRadius = 10; duration = 206; initialDepth = 685.018061; finalDepth = 687.000089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.3940200000001 # Actual altitude: 68.3940200000001 # Commanded vehicle depth: 687.000089 # Seafloor depth: -746.568218 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 273.58; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.04; MB_Bottom_Detect_Filter_Max_Range = 273.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 104.749475 meters # Minimum depth: 735.018061 meters looking forward 100.000000 meters along route # Maximum depth: 737.968886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.018061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361927; longitude = -118.143192; captureRadius = 10; duration = 209; initialDepth = 676.392804; finalDepth = 685.018061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.568129 # Actual altitude: 59.568129 # Commanded vehicle depth: 685.018061 # Seafloor depth: -737.224063 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 238.27; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.74; MB_Bottom_Detect_Filter_Max_Range = 238.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 109.590837 meters # Minimum depth: 726.392804 meters looking forward 100.000000 meters along route # Maximum depth: 734.374169 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.392804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361539; longitude = -118.144219; captureRadius = 10; duration = 219; initialDepth = 667.692926; finalDepth = 676.392804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.9813650000001 # Actual altitude: 57.9813650000001 # Commanded vehicle depth: 676.392804 # Seafloor depth: -734.374169 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 231.93; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.79; MB_Bottom_Detect_Filter_Max_Range = 231.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 104.704065 meters # Minimum depth: 717.692926 meters looking forward 100.000000 meters along route # Maximum depth: 725.214502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 667.692926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361133; longitude = -118.145293; captureRadius = 10; duration = 209; initialDepth = 668.516748; finalDepth = 667.692926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.9813650000001 # Actual altitude: 57.9813650000001 # Commanded vehicle depth: 667.692926 # Seafloor depth: -725.214502 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 231.93; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.79; MB_Bottom_Detect_Filter_Max_Range = 231.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 103.519769 meters # Minimum depth: 718.516748 meters looking forward 100.000000 meters along route # Maximum depth: 721.977769 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 668.516748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360745; longitude = -118.146319; captureRadius = 10; duration = 207; initialDepth = 671.877342; finalDepth = 668.516748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.521576 # Actual altitude: 57.521576 # Commanded vehicle depth: 668.516748 # Seafloor depth: -718.516748 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 230.09; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.51; MB_Bottom_Detect_Filter_Max_Range = 230.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 109.592145 meters # Minimum depth: 721.877342 meters looking forward 100.000000 meters along route # Maximum depth: 722.904711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.877342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360362; longitude = -118.147333; captureRadius = 10; duration = 219; initialDepth = 671.727246; finalDepth = 671.877342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.053349 # Actual altitude: 50.053349 # Commanded vehicle depth: 671.877342 # Seafloor depth: -721.930691 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.21; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.03; MB_Bottom_Detect_Filter_Max_Range = 200.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 105.936282 meters # Minimum depth: 721.727246 meters looking forward 100.000000 meters along route # Maximum depth: 723.230528 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.727246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359956; longitude = -118.148407; captureRadius = 10; duration = 211; initialDepth = 672.446522; finalDepth = 671.727246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2613349999999 # Actual altitude: 50.2613349999999 # Commanded vehicle depth: 671.727246 # Seafloor depth: -721.988581 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.16; MB_Bottom_Detect_Filter_Max_Range = 201.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 102.290034 meters # Minimum depth: 722.446522 meters looking forward 100.000000 meters along route # Maximum depth: 724.051711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.446522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359564; longitude = -118.149445; captureRadius = 10; duration = 204; initialDepth = 672.802670; finalDepth = 672.446522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2613349999999 # Actual altitude: 50.2613349999999 # Commanded vehicle depth: 672.446522 # Seafloor depth: -722.569573 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.16; MB_Bottom_Detect_Filter_Max_Range = 201.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 109.593452 meters # Minimum depth: 722.802670 meters looking forward 100.000000 meters along route # Maximum depth: 724.418774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.802670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359185; longitude = -118.150448; captureRadius = 10; duration = 219; initialDepth = 674.573884; finalDepth = 672.802670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.427187 # Actual altitude: 50.427187 # Commanded vehicle depth: 672.80267 # Seafloor depth: -723.229857 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.71; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.26; MB_Bottom_Detect_Filter_Max_Range = 201.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 107.168529 meters # Minimum depth: 724.573884 meters looking forward 100.000000 meters along route # Maximum depth: 726.879617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.573884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358779; longitude = -118.151522; captureRadius = 10; duration = 214; initialDepth = 676.343769; finalDepth = 674.573884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.427187 # Actual altitude: 50.427187 # Commanded vehicle depth: 674.573884 # Seafloor depth: -724.573884 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.71; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.26; MB_Bottom_Detect_Filter_Max_Range = 201.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.449891 meters # Minimum depth: 726.343769 meters looking forward 100.000000 meters along route # Maximum depth: 728.696915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.343769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358383; longitude = -118.152572; captureRadius = 10; duration = 202; initialDepth = 677.975341; finalDepth = 676.343769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.041878 # Actual altitude: 51.041878 # Commanded vehicle depth: 676.343769 # Seafloor depth: -727.385647 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 204.17; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.63; MB_Bottom_Detect_Filter_Max_Range = 204.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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: 727.975341 meters looking forward 100.000000 meters along route # Maximum depth: 730.098894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 677.975341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358007; longitude = -118.153566; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 678.946636; finalDepth = 677.975341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 51.041878 # Actual altitude: 51.041878 # Commanded vehicle depth: 677.975341 # Seafloor depth: -728.446411 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 204.17; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.63; MB_Bottom_Detect_Filter_Max_Range = 204.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 53 # Segment length 97.227182 meters # Minimum depth: 728.946636 meters looking forward 100.000000 meters along route # Maximum depth: 730.112431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.946636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356774; longitude = -118.152904; captureRadius = 10; duration = 194; # abortOnTimeout = True; initialDepth = 676.578309; finalDepth = 678.946636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.098042 # Actual altitude: 51.098042 # Commanded vehicle depth: 678.946636 # Seafloor depth: -730.044678 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.39; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.66; MB_Bottom_Detect_Filter_Max_Range = 204.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 105.187198 meters # Minimum depth: 726.578309 meters looking forward 100.000000 meters along route # Maximum depth: 728.207743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.578309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357134; longitude = -118.151951; captureRadius = 10; duration = 210; initialDepth = 674.721287; finalDepth = 676.578309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.218405 # Actual altitude: 51.218405 # Commanded vehicle depth: 676.578309 # Seafloor depth: -727.796714 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.87; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.73; MB_Bottom_Detect_Filter_Max_Range = 204.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 103.043247 meters # Minimum depth: 724.721287 meters looking forward 100.000000 meters along route # Maximum depth: 726.380613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.721287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357523; longitude = -118.150920; captureRadius = 10; duration = 206; initialDepth = 674.365704; finalDepth = 674.721287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6593260000001 # Actual altitude: 51.6593260000001 # Commanded vehicle depth: 674.721287 # Seafloor depth: -726.380613 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.64; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.00; MB_Bottom_Detect_Filter_Max_Range = 206.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 109.594317 meters # Minimum depth: 724.365704 meters looking forward 100.000000 meters along route # Maximum depth: 725.822202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.365704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357905; longitude = -118.149911; captureRadius = 10; duration = 219; initialDepth = 670.955343; finalDepth = 674.365704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6593260000001 # Actual altitude: 51.6593260000001 # Commanded vehicle depth: 674.365704 # Seafloor depth: -725.822202 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.64; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.00; MB_Bottom_Detect_Filter_Max_Range = 206.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 106.416923 meters # Minimum depth: 720.955343 meters looking forward 100.000000 meters along route # Maximum depth: 723.452144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 670.955343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358311; longitude = -118.148837; captureRadius = 10; duration = 212; initialDepth = 670.852189; finalDepth = 670.955343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.496801 # Actual altitude: 52.496801 # Commanded vehicle depth: 670.955343 # Seafloor depth: -723.452144 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.99; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.50; MB_Bottom_Detect_Filter_Max_Range = 209.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 101.811039 meters # Minimum depth: 720.852189 meters looking forward 100.000000 meters along route # Maximum depth: 723.473050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 670.852189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358705; longitude = -118.147794; captureRadius = 10; duration = 203; initialDepth = 673.893289; finalDepth = 670.852189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.496801 # Actual altitude: 52.496801 # Commanded vehicle depth: 670.852189 # Seafloor depth: -720.852189 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.99; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.50; MB_Bottom_Detect_Filter_Max_Range = 209.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 109.593011 meters # Minimum depth: 723.893289 meters looking forward 100.000000 meters along route # Maximum depth: 725.043786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.893289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359082; longitude = -118.146796; captureRadius = 10; duration = 219; initialDepth = 671.585909; finalDepth = 673.893289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 673.893289 # Seafloor depth: -723.893289 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.646617 meters # Minimum depth: 721.585909 meters looking forward 100.000000 meters along route # Maximum depth: 723.359445 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.585909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359488; longitude = -118.145722; captureRadius = 10; duration = 215; initialDepth = 673.074970; finalDepth = 671.585909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.773536 # Actual altitude: 51.773536 # Commanded vehicle depth: 671.585909 # Seafloor depth: -723.359445 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.09; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.06; MB_Bottom_Detect_Filter_Max_Range = 207.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 100.578861 meters # Minimum depth: 723.074970 meters looking forward 100.000000 meters along route # Maximum depth: 728.882072 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.074970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359886; longitude = -118.144667; captureRadius = 10; duration = 201; initialDepth = 679.941155; finalDepth = 673.074970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.773536 # Actual altitude: 51.773536 # Commanded vehicle depth: 673.07497 # Seafloor depth: -723.074970 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.09; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.06; MB_Bottom_Detect_Filter_Max_Range = 207.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 102.451393 meters # Minimum depth: 729.941155 meters looking forward 100.000000 meters along route # Maximum depth: 740.250876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.941155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360259; longitude = -118.143682; captureRadius = 10; duration = 204; initialDepth = 691.016139; finalDepth = 679.941155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 679.941155 # Seafloor depth: -729.941155 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.772459 meters # Minimum depth: 741.016139 meters looking forward 100.000000 meters along route # Maximum depth: 765.929410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.016139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360638; longitude = -118.142678; captureRadius = 10; duration = 211; initialDepth = 719.571977; finalDepth = 691.016139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 691.016139 # Seafloor depth: -741.016139 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.590848 meters # Minimum depth: 769.571977 meters looking forward 100.000000 meters along route # Maximum depth: 801.903661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.571977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361030; longitude = -118.141641; captureRadius = 10; duration = 219; initialDepth = 739.541860; finalDepth = 719.571977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 719.571977 # Seafloor depth: -769.571977 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.681111 meters # Minimum depth: 789.541860 meters looking forward 100.000000 meters along route # Maximum depth: 805.305849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.541860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361435; longitude = -118.140567; captureRadius = 10; duration = 207; initialDepth = 735.848575; finalDepth = 739.541860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.481782 # Actual altitude: 64.481782 # Commanded vehicle depth: 739.54186 # Seafloor depth: -804.023642 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 257.93; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.69; MB_Bottom_Detect_Filter_Max_Range = 257.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 104.540259 meters # Minimum depth: 785.848575 meters looking forward 100.000000 meters along route # Maximum depth: 789.145987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.848575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361819; longitude = -118.139551; captureRadius = 10; duration = 209; initialDepth = 721.868510; finalDepth = 735.848575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.481782 # Actual altitude: 64.481782 # Commanded vehicle depth: 735.848575 # Seafloor depth: -789.145987 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 257.93; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.69; MB_Bottom_Detect_Filter_Max_Range = 257.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 109.589541 meters # Minimum depth: 771.868510 meters looking forward 100.000000 meters along route # Maximum depth: 785.754648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.868510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362206; longitude = -118.138527; captureRadius = 10; duration = 219; initialDepth = 722.062010; finalDepth = 721.868510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.886138 # Actual altitude: 63.886138 # Commanded vehicle depth: 721.86851 # Seafloor depth: -785.754648 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 255.54; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.33; MB_Bottom_Detect_Filter_Max_Range = 255.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 255.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 104.910800 meters # Minimum depth: 772.062010 meters looking forward 100.000000 meters along route # Maximum depth: 772.973364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.062010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362612; longitude = -118.137453; captureRadius = 10; duration = 209; initialDepth = 723.029503; finalDepth = 722.062010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.886138 # Actual altitude: 63.886138 # Commanded vehicle depth: 722.06201 # Seafloor depth: -772.062010 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 255.54; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.33; MB_Bottom_Detect_Filter_Max_Range = 255.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 255.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 103.308088 meters # Minimum depth: 773.029503 meters looking forward 100.000000 meters along route # Maximum depth: 773.922449 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.029503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363001; longitude = -118.136425; captureRadius = 10; duration = 206; initialDepth = 724.030430; finalDepth = 723.029503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 723.029503 # Seafloor depth: -773.029503 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.588235 meters # Minimum depth: 774.030430 meters looking forward 100.000000 meters along route # Maximum depth: 775.037184 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.030430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363383; longitude = -118.135412; captureRadius = 10; duration = 219; initialDepth = 725.142829; finalDepth = 724.030430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 724.03043 # Seafloor depth: -774.030430 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.140460 meters # Minimum depth: 775.142829 meters looking forward 100.000000 meters along route # Maximum depth: 776.197251 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.142829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363789; longitude = -118.134338; captureRadius = 10; duration = 212; initialDepth = 726.275966; finalDepth = 725.142829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 725.142829 # Seafloor depth: -775.142829 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.075946 meters # Minimum depth: 776.275966 meters looking forward 100.000000 meters along route # Maximum depth: 777.292759 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.275966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364182; longitude = -118.133298; captureRadius = 10; duration = 204; initialDepth = 727.416903; finalDepth = 726.275966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 726.275966 # Seafloor depth: -776.275966 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.586930 meters # Minimum depth: 777.416903 meters looking forward 100.000000 meters along route # Maximum depth: 778.542693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 727.416903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364560; longitude = -118.132298; captureRadius = 10; duration = 219; initialDepth = 728.643073; finalDepth = 727.416903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 727.416903 # Seafloor depth: -777.416903 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.586479 meters # Minimum depth: 778.643073 meters looking forward 100.000000 meters along route # Maximum depth: 779.864905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.643073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364966; longitude = -118.131224; captureRadius = 10; duration = 219; initialDepth = 729.890352; finalDepth = 728.643073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 728.643073 # Seafloor depth: -778.643073 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.513449 meters # Minimum depth: 779.890352 meters looking forward 100.000000 meters along route # Maximum depth: 799.368802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.890352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.365372; longitude = -118.130150; captureRadius = 10; duration = 213; initialDepth = 732.165287; finalDepth = 729.890352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 729.890352 # Seafloor depth: -779.890352 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 52 # Segment length 150.052264 meters # Minimum depth: 782.165287 meters looking forward 100.000000 meters along route # Maximum depth: 800.214815 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.165287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.365766; longitude = -118.129106; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 731.532699; finalDepth = 732.165287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 67.285885 # Actual altitude: 67.285885 # Commanded vehicle depth: 732.165287 # Seafloor depth: -799.451172 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 269.14; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.37; MB_Bottom_Detect_Filter_Max_Range = 269.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 51 # Segment length 108.313026 meters # Minimum depth: 781.532699 meters looking forward 100.000000 meters along route # Maximum depth: 782.597656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.532699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364532; longitude = -118.128444; captureRadius = 10; duration = 216; # abortOnTimeout = True; initialDepth = 730.271067; finalDepth = 731.532699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.285885 # Actual altitude: 67.285885 # Commanded vehicle depth: 731.532699 # Seafloor depth: -782.597656 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 269.14; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.37; MB_Bottom_Detect_Filter_Max_Range = 269.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 102.214035 meters # Minimum depth: 780.271067 meters looking forward 100.000000 meters along route # Maximum depth: 781.412927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 730.271067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364131; longitude = -118.129505; captureRadius = 10; duration = 204; initialDepth = 729.165540; finalDepth = 730.271067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.14186 # Actual altitude: 51.14186 # Commanded vehicle depth: 730.271067 # Seafloor depth: -781.412927 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.57; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.69; MB_Bottom_Detect_Filter_Max_Range = 204.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 106.003079 meters # Minimum depth: 779.165540 meters looking forward 100.000000 meters along route # Maximum depth: 780.232617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.165540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363752; longitude = -118.130507; captureRadius = 10; duration = 212; initialDepth = 727.954423; finalDepth = 729.165540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.14186 # Actual altitude: 51.14186 # Commanded vehicle depth: 729.16554 # Seafloor depth: -780.232617 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.57; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.69; MB_Bottom_Detect_Filter_Max_Range = 204.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 109.588607 meters # Minimum depth: 777.954423 meters looking forward 100.000000 meters along route # Maximum depth: 779.043625 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 727.954423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363360; longitude = -118.131546; captureRadius = 10; duration = 219; initialDepth = 726.770872; finalDepth = 727.954423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.089202 # Actual altitude: 51.089202 # Commanded vehicle depth: 727.954423 # Seafloor depth: -779.043625 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.36; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.65; MB_Bottom_Detect_Filter_Max_Range = 204.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 103.446182 meters # Minimum depth: 776.770872 meters looking forward 100.000000 meters along route # Maximum depth: 777.833724 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.770872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362954; longitude = -118.132620; captureRadius = 10; duration = 206; initialDepth = 725.746624; finalDepth = 726.770872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.089202 # Actual altitude: 51.089202 # Commanded vehicle depth: 726.770872 # Seafloor depth: -777.833724 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.36; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.65; MB_Bottom_Detect_Filter_Max_Range = 204.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 104.773412 meters # Minimum depth: 775.746624 meters looking forward 100.000000 meters along route # Maximum depth: 776.723742 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.746624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362571; longitude = -118.133634; captureRadius = 10; duration = 209; initialDepth = 724.678575; finalDepth = 725.746624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0628519999999 # Actual altitude: 51.0628519999999 # Commanded vehicle depth: 725.746624 # Seafloor depth: -776.723742 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.25; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.64; MB_Bottom_Detect_Filter_Max_Range = 204.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 109.589914 meters # Minimum depth: 774.678575 meters looking forward 100.000000 meters along route # Maximum depth: 775.632783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.678575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362183; longitude = -118.134660; captureRadius = 10; duration = 219; initialDepth = 724.144327; finalDepth = 724.678575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.977118 # Actual altitude: 50.977118 # Commanded vehicle depth: 724.678575 # Seafloor depth: -775.632783 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.91; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.59; MB_Bottom_Detect_Filter_Max_Range = 203.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 104.678358 meters # Minimum depth: 774.144327 meters looking forward 100.000000 meters along route # Maximum depth: 789.272571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.144327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361777; longitude = -118.135734; captureRadius = 10; duration = 209; initialDepth = 738.401575; finalDepth = 724.144327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.954208 # Actual altitude: 50.954208 # Commanded vehicle depth: 724.144327 # Seafloor depth: -774.575975 # behavior reson { duration = 6; 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 = 30.57; 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 51 # Segment length 103.543718 meters # Minimum depth: 788.401575 meters looking forward 100.000000 meters along route # Maximum depth: 788.899170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.401575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361390; longitude = -118.136760; captureRadius = 10; duration = 207; initialDepth = 738.396326; finalDepth = 738.401575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.497595 # Actual altitude: 50.497595 # Commanded vehicle depth: 738.401575 # Seafloor depth: -788.899170 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.99; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.30; 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 51 # Segment length 109.591219 meters # Minimum depth: 788.396326 meters looking forward 100.000000 meters along route # Maximum depth: 788.821708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.396326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361006; longitude = -118.137775; captureRadius = 10; duration = 219; initialDepth = 734.199167; finalDepth = 738.396326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.497595 # Actual altitude: 50.497595 # Commanded vehicle depth: 738.396326 # Seafloor depth: -788.396326 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.99; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.30; 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 51 # Segment length 105.910565 meters # Minimum depth: 784.199167 meters looking forward 100.000000 meters along route # Maximum depth: 788.738691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.199167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360601; longitude = -118.138849; captureRadius = 10; duration = 211; initialDepth = 734.866496; finalDepth = 734.199167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.539524 # Actual altitude: 54.539524 # Commanded vehicle depth: 734.199167 # Seafloor depth: -788.738691 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.16; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.72; MB_Bottom_Detect_Filter_Max_Range = 218.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 102.313993 meters # Minimum depth: 784.866496 meters looking forward 100.000000 meters along route # Maximum depth: 788.867180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.866496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360208; longitude = -118.139887; captureRadius = 10; duration = 204; initialDepth = 723.625707; finalDepth = 734.866496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.539524 # Actual altitude: 54.539524 # Commanded vehicle depth: 734.866496 # Seafloor depth: -784.866496 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.16; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.72; MB_Bottom_Detect_Filter_Max_Range = 218.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 109.592526 meters # Minimum depth: 773.625707 meters looking forward 100.000000 meters along route # Maximum depth: 789.425760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.625707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359830; longitude = -118.140889; captureRadius = 10; duration = 219; initialDepth = 688.775008; finalDepth = 723.625707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.740002 # Actual altitude: 65.740002 # Commanded vehicle depth: 723.625707 # Seafloor depth: -789.365709 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 262.96; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.44; MB_Bottom_Detect_Filter_Max_Range = 262.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 107.142800 meters # Minimum depth: 738.775008 meters looking forward 100.000000 meters along route # Maximum depth: 771.299256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.775008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359424; longitude = -118.141963; captureRadius = 10; duration = 214; initialDepth = 677.821232; finalDepth = 688.775008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.5242480000001 # Actual altitude: 82.5242480000001 # Commanded vehicle depth: 688.775008 # Seafloor depth: -771.299256 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 330.10; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 49.51; MB_Bottom_Detect_Filter_Max_Range = 330.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 101.084240 meters # Minimum depth: 727.821232 meters looking forward 100.000000 meters along route # Maximum depth: 736.927795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 677.821232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359027; longitude = -118.143013; captureRadius = 10; duration = 202; initialDepth = 675.472230; finalDepth = 677.821232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.5242480000001 # Actual altitude: 82.5242480000001 # Commanded vehicle depth: 677.821232 # Seafloor depth: -736.927795 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 330.10; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 49.51; MB_Bottom_Detect_Filter_Max_Range = 330.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 101.949133 meters # Minimum depth: 725.472230 meters looking forward 100.000000 meters along route # Maximum depth: 727.371684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.472230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358653; longitude = -118.144004; captureRadius = 10; duration = 203; initialDepth = 675.442359; finalDepth = 675.472230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.1065629999999 # Actual altitude: 59.1065629999999 # Commanded vehicle depth: 675.47223 # Seafloor depth: -727.371684 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 236.43; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.46; MB_Bottom_Detect_Filter_Max_Range = 236.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 106.279533 meters # Minimum depth: 725.442359 meters looking forward 100.000000 meters along route # Maximum depth: 726.156103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.442359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358275; longitude = -118.145003; captureRadius = 10; duration = 212; initialDepth = 673.843260; finalDepth = 675.442359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.899454 # Actual altitude: 51.899454 # Commanded vehicle depth: 675.442359 # Seafloor depth: -725.448117 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.60; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.14; MB_Bottom_Detect_Filter_Max_Range = 207.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 109.594689 meters # Minimum depth: 723.843260 meters looking forward 100.000000 meters along route # Maximum depth: 725.735727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.843260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357882; longitude = -118.146044; captureRadius = 10; duration = 219; initialDepth = 673.287572; finalDepth = 673.843260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.845915 # Actual altitude: 51.845915 # Commanded vehicle depth: 673.84326 # Seafloor depth: -725.689175 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.38; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.11; MB_Bottom_Detect_Filter_Max_Range = 207.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 103.181346 meters # Minimum depth: 723.287572 meters looking forward 100.000000 meters along route # Maximum depth: 725.740185 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.287572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357476; longitude = -118.147118; captureRadius = 10; duration = 206; initialDepth = 675.709735; finalDepth = 673.287572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.845915 # Actual altitude: 51.845915 # Commanded vehicle depth: 673.287572 # Seafloor depth: -723.324928 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.38; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.11; MB_Bottom_Detect_Filter_Max_Range = 207.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 105.049803 meters # Minimum depth: 725.709735 meters looking forward 100.000000 meters along route # Maximum depth: 726.055726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.709735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357094; longitude = -118.148130; captureRadius = 10; duration = 210; initialDepth = 675.300567; finalDepth = 675.709735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.105988 # Actual altitude: 50.105988 # Commanded vehicle depth: 675.709735 # Seafloor depth: -725.815723 # behavior reson { duration = 6; 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 = 30.06; 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 51 # Segment length 109.595995 meters # Minimum depth: 725.300567 meters looking forward 100.000000 meters along route # Maximum depth: 728.484947 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.300567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356705; longitude = -118.149159; captureRadius = 10; duration = 219; initialDepth = 678.857008; finalDepth = 675.300567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.119735 # Actual altitude: 50.119735 # Commanded vehicle depth: 675.300567 # Seafloor depth: -725.420302 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.48; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.07; MB_Bottom_Detect_Filter_Max_Range = 200.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 104.413590 meters # Minimum depth: 728.857008 meters looking forward 100.000000 meters along route # Maximum depth: 730.940815 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.857008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356299; longitude = -118.150233; captureRadius = 10; duration = 208; initialDepth = 680.843296; finalDepth = 678.857008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1241120000001 # Actual altitude: 50.1241120000001 # Commanded vehicle depth: 678.857008 # Seafloor depth: -728.981120 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.50; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.07; MB_Bottom_Detect_Filter_Max_Range = 200.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.50; 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: 730.843296 meters looking forward 100.000000 meters along route # Maximum depth: 732.622271 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.843296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355913; longitude = -118.151256; captureRadius = 10; duration = 201; initialDepth = 678.365689; finalDepth = 680.843296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.4690419999999 # Actual altitude: 50.4690419999999 # Commanded vehicle depth: 680.843296 # Seafloor depth: -731.312338 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 201.88; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.28; MB_Bottom_Detect_Filter_Max_Range = 201.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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: 728.365689 meters looking forward 100.000000 meters along route # Maximum depth: 733.074553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.365689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355540; longitude = -118.152242; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 680.815693; finalDepth = 678.365689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 53.15578 # Actual altitude: 53.15578 # Commanded vehicle depth: 678.365689 # Seafloor depth: -731.521469 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 212.62; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.89; MB_Bottom_Detect_Filter_Max_Range = 212.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 49 # Segment length 93.631296 meters # Minimum depth: 730.815693 meters looking forward 100.000000 meters along route # Maximum depth: 734.249830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.815693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354307; longitude = -118.151580; captureRadius = 10; duration = 187; # abortOnTimeout = True; initialDepth = 679.549326; finalDepth = 680.815693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.15578 # Actual altitude: 53.15578 # Commanded vehicle depth: 680.815693 # Seafloor depth: -731.921951 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.62; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.89; MB_Bottom_Detect_Filter_Max_Range = 212.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 107.959777 meters # Minimum depth: 729.549326 meters looking forward 100.000000 meters along route # Maximum depth: 732.328478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.549326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354654; longitude = -118.150662; captureRadius = 10; duration = 215; initialDepth = 678.121439; finalDepth = 679.549326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7791520000001 # Actual altitude: 52.7791520000001 # Commanded vehicle depth: 679.549326 # Seafloor depth: -732.328478 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.12; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.67; MB_Bottom_Detect_Filter_Max_Range = 211.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 100.273072 meters # Minimum depth: 728.121439 meters looking forward 100.000000 meters along route # Maximum depth: 729.763558 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.121439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355053; longitude = -118.149605; captureRadius = 10; duration = 200; initialDepth = 676.564716; finalDepth = 678.121439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7791520000001 # Actual altitude: 52.7791520000001 # Commanded vehicle depth: 678.121439 # Seafloor depth: -729.763558 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.12; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.67; MB_Bottom_Detect_Filter_Max_Range = 211.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 102.778416 meters # Minimum depth: 726.564716 meters looking forward 100.000000 meters along route # Maximum depth: 727.943151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.564716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355425; longitude = -118.148622; captureRadius = 10; duration = 205; initialDepth = 675.726897; finalDepth = 676.564716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.642119 # Actual altitude: 51.642119 # Commanded vehicle depth: 676.564716 # Seafloor depth: -727.943151 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.57; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.99; MB_Bottom_Detect_Filter_Max_Range = 206.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 105.452806 meters # Minimum depth: 725.726897 meters looking forward 100.000000 meters along route # Maximum depth: 728.170172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.726897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355805; longitude = -118.147615; captureRadius = 10; duration = 210; initialDepth = 674.668428; finalDepth = 675.726897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.442356 # Actual altitude: 51.442356 # Commanded vehicle depth: 675.726897 # Seafloor depth: -727.169253 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.87; 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 49 # Segment length 109.594727 meters # Minimum depth: 724.668428 meters looking forward 100.000000 meters along route # Maximum depth: 725.508485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.668428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356196; longitude = -118.146581; captureRadius = 10; duration = 219; initialDepth = 673.862179; finalDepth = 674.668428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.442356 # Actual altitude: 51.442356 # Commanded vehicle depth: 674.668428 # Seafloor depth: -725.267088 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.87; 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 49 # Segment length 104.030252 meters # Minimum depth: 723.862179 meters looking forward 100.000000 meters along route # Maximum depth: 725.002393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.862179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356601; longitude = -118.145507; captureRadius = 10; duration = 208; initialDepth = 671.372668; finalDepth = 673.862179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.59866 # Actual altitude: 50.59866 # Commanded vehicle depth: 673.862179 # Seafloor depth: -724.439130 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.39; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.36; MB_Bottom_Detect_Filter_Max_Range = 202.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 104.198488 meters # Minimum depth: 721.372668 meters looking forward 100.000000 meters along route # Maximum depth: 724.223088 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.372668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356986; longitude = -118.144488; captureRadius = 10; duration = 208; initialDepth = 676.678264; finalDepth = 671.372668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.85042 # Actual altitude: 52.85042 # Commanded vehicle depth: 671.372668 # Seafloor depth: -724.223088 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.40; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.71; MB_Bottom_Detect_Filter_Max_Range = 211.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 109.593420 meters # Minimum depth: 726.678264 meters looking forward 100.000000 meters along route # Maximum depth: 762.671007 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.678264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357372; longitude = -118.143467; captureRadius = 10; duration = 219; initialDepth = 716.675387; finalDepth = 676.678264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.85042 # Actual altitude: 52.85042 # Commanded vehicle depth: 676.678264 # Seafloor depth: -726.678264 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.40; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.71; MB_Bottom_Detect_Filter_Max_Range = 211.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 105.282057 meters # Minimum depth: 766.675387 meters looking forward 100.000000 meters along route # Maximum depth: 792.600603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.675387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357778; longitude = -118.142393; captureRadius = 10; duration = 210; initialDepth = 740.947805; finalDepth = 716.675387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 716.675387 # Seafloor depth: -766.675387 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.944200 meters # Minimum depth: 790.947805 meters looking forward 100.000000 meters along route # Maximum depth: 792.959121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.947805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358168; longitude = -118.141361; captureRadius = 10; duration = 205; initialDepth = 738.224952; finalDepth = 740.947805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.896511 # Actual altitude: 51.896511 # Commanded vehicle depth: 740.947805 # Seafloor depth: -792.844316 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.59; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.14; MB_Bottom_Detect_Filter_Max_Range = 207.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 109.592114 meters # Minimum depth: 788.224952 meters looking forward 100.000000 meters along route # Maximum depth: 791.153413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.224952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358549; longitude = -118.140352; captureRadius = 10; duration = 219; initialDepth = 729.394343; finalDepth = 738.224952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7977989999999 # Actual altitude: 52.7977989999999 # Commanded vehicle depth: 738.224952 # Seafloor depth: -791.022751 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.19; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.68; MB_Bottom_Detect_Filter_Max_Range = 211.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 106.533833 meters # Minimum depth: 779.394343 meters looking forward 100.000000 meters along route # Maximum depth: 787.895952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.394343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358955; longitude = -118.139279; captureRadius = 10; duration = 213; initialDepth = 731.112914; finalDepth = 729.394343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.5016089999999 # Actual altitude: 58.5016089999999 # Commanded vehicle depth: 729.394343 # Seafloor depth: -787.895952 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 234.01; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.10; MB_Bottom_Detect_Filter_Max_Range = 234.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 101.689942 meters # Minimum depth: 781.112914 meters looking forward 100.000000 meters along route # Maximum depth: 788.687390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.112914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359349; longitude = -118.138235; captureRadius = 10; duration = 203; initialDepth = 739.018611; finalDepth = 731.112914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.5016089999999 # Actual altitude: 58.5016089999999 # Commanded vehicle depth: 731.112914 # Seafloor depth: -781.112914 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 234.01; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.10; MB_Bottom_Detect_Filter_Max_Range = 234.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 109.590808 meters # Minimum depth: 789.018611 meters looking forward 100.000000 meters along route # Maximum depth: 790.644303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.018611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359726; longitude = -118.137238; captureRadius = 10; duration = 219; initialDepth = 740.722507; finalDepth = 739.018611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 739.018611 # Seafloor depth: -789.018611 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.785580 meters # Minimum depth: 790.722507 meters looking forward 100.000000 meters along route # Maximum depth: 791.818962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.722507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360131; longitude = -118.136164; captureRadius = 10; duration = 215; initialDepth = 726.391684; finalDepth = 740.722507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 740.722507 # Seafloor depth: -790.722507 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.435714 meters # Minimum depth: 776.391684 meters looking forward 100.000000 meters along route # Maximum depth: 792.212911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.391684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360531; longitude = -118.135108; captureRadius = 10; duration = 200; initialDepth = 727.037639; finalDepth = 726.391684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.5402819999999 # Actual altitude: 65.5402819999999 # Commanded vehicle depth: 726.391684 # Seafloor depth: -791.931966 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 262.16; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.32; MB_Bottom_Detect_Filter_Max_Range = 262.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 102.604508 meters # Minimum depth: 777.037639 meters looking forward 100.000000 meters along route # Maximum depth: 778.052682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 727.037639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360902; longitude = -118.134124; captureRadius = 10; duration = 205; initialDepth = 728.095207; finalDepth = 727.037639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.5402819999999 # Actual altitude: 65.5402819999999 # Commanded vehicle depth: 727.037639 # Seafloor depth: -777.037639 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 262.16; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.32; MB_Bottom_Detect_Filter_Max_Range = 262.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 105.615160 meters # Minimum depth: 778.095207 meters looking forward 100.000000 meters along route # Maximum depth: 779.106176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.095207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361282; longitude = -118.133118; captureRadius = 10; duration = 211; initialDepth = 729.219541; finalDepth = 728.095207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 728.095207 # Seafloor depth: -778.095207 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.588647 meters # Minimum depth: 779.219541 meters looking forward 100.000000 meters along route # Maximum depth: 780.310144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.219541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361673; longitude = -118.132083; captureRadius = 10; duration = 219; initialDepth = 730.432457; finalDepth = 729.219541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 729.219541 # Seafloor depth: -779.219541 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.588196 meters # Minimum depth: 780.432457 meters looking forward 100.000000 meters along route # Maximum depth: 781.591441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 730.432457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362079; longitude = -118.131009; captureRadius = 10; duration = 219; initialDepth = 731.655980; finalDepth = 730.432457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 730.432457 # Seafloor depth: -780.432457 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.288983 meters # Minimum depth: 781.655980 meters looking forward 100.000000 meters along route # Maximum depth: 782.903666 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.655980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362485; longitude = -118.129935; captureRadius = 10; duration = 220; initialDepth = 732.911842; finalDepth = 731.655980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 731.65598 # Seafloor depth: -781.655980 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.308084 meters # Minimum depth: 782.911842 meters looking forward 100.000000 meters along route # Maximum depth: 784.177514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.911842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362893; longitude = -118.128854; captureRadius = 10; duration = 218; initialDepth = 734.264160; finalDepth = 732.911842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 732.911842 # Seafloor depth: -782.911842 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 48 # Segment length 149.951778 meters # Minimum depth: 784.264160 meters looking forward 100.000000 meters along route # Maximum depth: 785.617262 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.264160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363298; longitude = -118.127783; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 734.622035; finalDepth = 734.264160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 734.26416 # Seafloor depth: -784.264160 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 47 # Segment length 95.352605 meters # Minimum depth: 784.622035 meters looking forward 100.000000 meters along route # Maximum depth: 785.697754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.622035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362065; longitude = -118.127121; captureRadius = 10; duration = 190; # abortOnTimeout = True; initialDepth = 733.495582; finalDepth = 734.622035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.075719 # Actual altitude: 51.075719 # Commanded vehicle depth: 734.622035 # Seafloor depth: -785.697754 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.30; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.65; MB_Bottom_Detect_Filter_Max_Range = 204.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 104.131272 meters # Minimum depth: 783.495582 meters looking forward 100.000000 meters along route # Maximum depth: 784.561774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 733.495582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361712; longitude = -118.128055; captureRadius = 10; duration = 208; initialDepth = 732.268189; finalDepth = 733.495582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.075719 # Actual altitude: 51.075719 # Commanded vehicle depth: 733.495582 # Seafloor depth: -784.561774 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.30; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.65; MB_Bottom_Detect_Filter_Max_Range = 204.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 109.591432 meters # Minimum depth: 782.268189 meters looking forward 100.000000 meters along route # Maximum depth: 783.368318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.268189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361326; longitude = -118.129076; captureRadius = 10; duration = 219; initialDepth = 731.081159; finalDepth = 732.268189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.100129 # Actual altitude: 51.100129 # Commanded vehicle depth: 732.268189 # Seafloor depth: -783.368318 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.40; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.66; MB_Bottom_Detect_Filter_Max_Range = 204.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 105.310004 meters # Minimum depth: 781.081159 meters looking forward 100.000000 meters along route # Maximum depth: 782.151760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.081159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360921; longitude = -118.130150; captureRadius = 10; duration = 210; initialDepth = 730.011325; finalDepth = 731.081159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.100129 # Actual altitude: 51.100129 # Commanded vehicle depth: 731.081159 # Seafloor depth: -782.151760 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.40; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.66; MB_Bottom_Detect_Filter_Max_Range = 204.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 102.914958 meters # Minimum depth: 780.011325 meters looking forward 100.000000 meters along route # Maximum depth: 781.005689 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 730.011325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360531; longitude = -118.131182; captureRadius = 10; duration = 205; initialDepth = 728.861941; finalDepth = 730.011325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.070601 # Actual altitude: 51.070601 # Commanded vehicle depth: 730.011325 # Seafloor depth: -781.005689 # behavior reson { duration = 6; 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 = 30.64; 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 47 # Segment length 109.592738 meters # Minimum depth: 778.861941 meters looking forward 100.000000 meters along route # Maximum depth: 779.905369 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.861941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360149; longitude = -118.132190; captureRadius = 10; duration = 219; initialDepth = 728.654807; finalDepth = 728.861941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0434279999999 # Actual altitude: 51.0434279999999 # Commanded vehicle depth: 728.861941 # Seafloor depth: -779.905369 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.17; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.63; MB_Bottom_Detect_Filter_Max_Range = 204.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 106.528828 meters # Minimum depth: 778.654807 meters looking forward 100.000000 meters along route # Maximum depth: 794.719221 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.654807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359744; longitude = -118.133264; captureRadius = 10; duration = 213; initialDepth = 742.457031; finalDepth = 728.654807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0434279999999 # Actual altitude: 51.0434279999999 # Commanded vehicle depth: 728.654807 # Seafloor depth: -778.760035 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.17; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.63; MB_Bottom_Detect_Filter_Max_Range = 204.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 101.698615 meters # Minimum depth: 792.457031 meters looking forward 100.000000 meters along route # Maximum depth: 793.558222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.457031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359349; longitude = -118.134308; captureRadius = 10; duration = 203; initialDepth = 741.895342; finalDepth = 742.457031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.101191 # Actual altitude: 51.101191 # Commanded vehicle depth: 742.457031 # Seafloor depth: -793.558222 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.40; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.66; MB_Bottom_Detect_Filter_Max_Range = 204.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 109.594044 meters # Minimum depth: 791.895342 meters looking forward 100.000000 meters along route # Maximum depth: 792.330103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.895342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358973; longitude = -118.135305; captureRadius = 10; duration = 219; initialDepth = 742.296291; finalDepth = 741.895342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.101191 # Actual altitude: 51.101191 # Commanded vehicle depth: 741.895342 # Seafloor depth: -792.330103 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.40; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.66; MB_Bottom_Detect_Filter_Max_Range = 204.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 107.747681 meters # Minimum depth: 792.296291 meters looking forward 100.000000 meters along route # Maximum depth: 798.659118 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.296291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358567; longitude = -118.136379; captureRadius = 10; duration = 215; initialDepth = 743.200210; finalDepth = 742.296291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.434761 # Actual altitude: 50.434761 # Commanded vehicle depth: 742.296291 # Seafloor depth: -792.296291 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.74; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.26; MB_Bottom_Detect_Filter_Max_Range = 201.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 100.482243 meters # Minimum depth: 793.200210 meters looking forward 100.000000 meters along route # Maximum depth: 798.649805 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.200210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358168; longitude = -118.137435; captureRadius = 10; duration = 200; initialDepth = 737.505346; finalDepth = 743.200210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.449595 # Actual altitude: 55.449595 # Commanded vehicle depth: 743.20021 # Seafloor depth: -798.649805 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.80; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.27; MB_Bottom_Detect_Filter_Max_Range = 221.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 102.545415 meters # Minimum depth: 787.505346 meters looking forward 100.000000 meters along route # Maximum depth: 792.308241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.505346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357796; longitude = -118.138419; captureRadius = 10; duration = 205; initialDepth = 735.733896; finalDepth = 737.505346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.449595 # Actual altitude: 55.449595 # Commanded vehicle depth: 737.505346 # Seafloor depth: -792.308241 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.80; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.27; MB_Bottom_Detect_Filter_Max_Range = 221.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 105.686135 meters # Minimum depth: 785.733896 meters looking forward 100.000000 meters along route # Maximum depth: 787.422011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.733896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357416; longitude = -118.139424; captureRadius = 10; duration = 211; initialDepth = 736.560362; finalDepth = 735.733896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8028949999999 # Actual altitude: 54.8028949999999 # Commanded vehicle depth: 735.733896 # Seafloor depth: -787.422011 # behavior reson { duration = 6; 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 = 32.88; 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 47 # Segment length 109.596207 meters # Minimum depth: 786.560362 meters looking forward 100.000000 meters along route # Maximum depth: 788.354197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.560362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357025; longitude = -118.140460; captureRadius = 10; duration = 219; initialDepth = 722.995661; finalDepth = 736.560362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.688115 # Actual altitude: 51.688115 # Commanded vehicle depth: 736.560362 # Seafloor depth: -786.807468 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.75; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.01; MB_Bottom_Detect_Filter_Max_Range = 206.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 103.764244 meters # Minimum depth: 772.995661 meters looking forward 100.000000 meters along route # Maximum depth: 787.033163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.995661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356619; longitude = -118.141534; captureRadius = 10; duration = 207; initialDepth = 684.803052; finalDepth = 722.995661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.70836 # Actual altitude: 63.70836 # Commanded vehicle depth: 722.995661 # Seafloor depth: -786.704021 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 254.83; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.23; MB_Bottom_Detect_Filter_Max_Range = 254.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 104.469788 meters # Minimum depth: 734.803052 meters looking forward 100.000000 meters along route # Maximum depth: 771.517921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.803052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356235; longitude = -118.142551; captureRadius = 10; duration = 208; initialDepth = 673.788223; finalDepth = 684.803052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.714869 # Actual altitude: 86.714869 # Commanded vehicle depth: 684.803052 # Seafloor depth: -771.517921 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 346.86; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 52.03; MB_Bottom_Detect_Filter_Max_Range = 346.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 109.597513 meters # Minimum depth: 723.788223 meters looking forward 100.000000 meters along route # Maximum depth: 731.629467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.788223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355848; longitude = -118.143574; captureRadius = 10; duration = 219; initialDepth = 673.619091; finalDepth = 673.788223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.714869 # Actual altitude: 86.714869 # Commanded vehicle depth: 673.788223 # Seafloor depth: -731.629467 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 346.86; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 52.03; MB_Bottom_Detect_Filter_Max_Range = 346.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 104.983103 meters # Minimum depth: 723.619091 meters looking forward 100.000000 meters along route # Maximum depth: 724.465290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.619091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355442; longitude = -118.144648; captureRadius = 10; duration = 209; initialDepth = 673.549208; finalDepth = 673.619091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.841244 # Actual altitude: 57.841244 # Commanded vehicle depth: 673.619091 # Seafloor depth: -724.239425 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 231.36; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.70; MB_Bottom_Detect_Filter_Max_Range = 231.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 103.253412 meters # Minimum depth: 723.549208 meters looking forward 100.000000 meters along route # Maximum depth: 725.932844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.549208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355053; longitude = -118.145677; captureRadius = 10; duration = 206; initialDepth = 675.961403; finalDepth = 673.549208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.620334 # Actual altitude: 50.620334 # Commanded vehicle depth: 673.549208 # Seafloor depth: -723.549208 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.48; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.37; MB_Bottom_Detect_Filter_Max_Range = 202.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.48; 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: 725.961403 meters looking forward 100.000000 meters along route # Maximum depth: 728.246625 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.961403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354671; longitude = -118.146689; captureRadius = 10; duration = 219; initialDepth = 678.604264; finalDepth = 675.961403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1972969999999 # Actual altitude: 50.1972969999999 # Commanded vehicle depth: 675.961403 # Seafloor depth: -726.158700 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.12; MB_Bottom_Detect_Filter_Max_Range = 200.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 109.599270 meters # Minimum depth: 728.604264 meters looking forward 100.000000 meters along route # Maximum depth: 733.997812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.604264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354265; longitude = -118.147763; captureRadius = 10; duration = 219; initialDepth = 679.981602; finalDepth = 678.604264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1972969999999 # Actual altitude: 50.1972969999999 # Commanded vehicle depth: 678.604264 # Seafloor depth: -728.656940 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.12; MB_Bottom_Detect_Filter_Max_Range = 200.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 109.599720 meters # Minimum depth: 729.981602 meters looking forward 100.000000 meters along route # Maximum depth: 734.452012 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.981602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353859; longitude = -118.148837; captureRadius = 10; duration = 219; initialDepth = 680.248023; finalDepth = 679.981602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.47041 # Actual altitude: 54.47041 # Commanded vehicle depth: 679.981602 # Seafloor depth: -734.452012 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 217.88; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.68; MB_Bottom_Detect_Filter_Max_Range = 217.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.88; 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: 730.248023 meters looking forward 100.000000 meters along route # Maximum depth: 735.830429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.248023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353454; longitude = -118.149911; captureRadius = 10; duration = 205; initialDepth = 685.075135; finalDepth = 680.248023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.47041 # Actual altitude: 54.47041 # Commanded vehicle depth: 680.248023 # Seafloor depth: -731.717344 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 217.88; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.68; MB_Bottom_Detect_Filter_Max_Range = 217.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.88; 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: 735.075135 meters looking forward 100.000000 meters along route # Maximum depth: 736.880650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.075135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353073; longitude = -118.150918; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 683.395861; finalDepth = 685.075135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 51.469321 # Actual altitude: 51.469321 # Commanded vehicle depth: 685.075135 # Seafloor depth: -736.117752 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; 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 = 30.88; 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 to get to end of line 45 # Segment length 100.996296 meters # Minimum depth: 733.395861 meters looking forward 100.000000 meters along route # Maximum depth: 736.689896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.395861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351840; longitude = -118.150256; captureRadius = 10; duration = 201; # abortOnTimeout = True; initialDepth = 680.221798; finalDepth = 683.395861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.294035 # Actual altitude: 53.294035 # Commanded vehicle depth: 683.395861 # Seafloor depth: -736.689896 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.18; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.98; MB_Bottom_Detect_Filter_Max_Range = 213.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 109.598937 meters # Minimum depth: 730.221798 meters looking forward 100.000000 meters along route # Maximum depth: 733.917966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.221798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352214; longitude = -118.149266; captureRadius = 10; duration = 219; initialDepth = 679.424194; finalDepth = 680.221798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.294035 # Actual altitude: 53.294035 # Commanded vehicle depth: 680.221798 # Seafloor depth: -733.436012 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.18; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.98; MB_Bottom_Detect_Filter_Max_Range = 213.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 106.193140 meters # Minimum depth: 729.424194 meters looking forward 100.000000 meters along route # Maximum depth: 732.383028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.424194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352620; longitude = -118.148192; captureRadius = 10; duration = 212; initialDepth = 677.919920; finalDepth = 679.424194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.214214 # Actual altitude: 53.214214 # Commanded vehicle depth: 679.424194 # Seafloor depth: -730.915389 # behavior reson { duration = 6; 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 = 31.93; 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 102.043600 meters # Minimum depth: 727.919920 meters looking forward 100.000000 meters along route # Maximum depth: 728.918962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 677.919920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353013; longitude = -118.147152; captureRadius = 10; duration = 204; initialDepth = 675.500973; finalDepth = 677.919920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4911949999999 # Actual altitude: 51.4911949999999 # Commanded vehicle depth: 677.91992 # Seafloor depth: -728.738455 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.96; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.89; MB_Bottom_Detect_Filter_Max_Range = 205.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 109.597630 meters # Minimum depth: 725.500973 meters looking forward 100.000000 meters along route # Maximum depth: 728.374602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.500973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353391; longitude = -118.146152; captureRadius = 10; duration = 219; initialDepth = 675.867619; finalDepth = 675.500973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.247122 # Actual altitude: 52.247122 # Commanded vehicle depth: 675.500973 # Seafloor depth: -727.748095 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.99; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.35; MB_Bottom_Detect_Filter_Max_Range = 208.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 107.444969 meters # Minimum depth: 725.867619 meters looking forward 100.000000 meters along route # Maximum depth: 727.862531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.867619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353796; longitude = -118.145078; captureRadius = 10; duration = 214; initialDepth = 679.231473; finalDepth = 675.867619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.247122 # Actual altitude: 52.247122 # Commanded vehicle depth: 675.867619 # Seafloor depth: -726.256352 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.99; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.35; MB_Bottom_Detect_Filter_Max_Range = 208.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 100.789289 meters # Minimum depth: 729.231473 meters looking forward 100.000000 meters along route # Maximum depth: 762.069402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.231473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354194; longitude = -118.144025; captureRadius = 10; duration = 201; initialDepth = 718.046727; finalDepth = 679.231473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.388733 # Actual altitude: 50.388733 # Commanded vehicle depth: 679.231473 # Seafloor depth: -729.231473 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.55; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.23; MB_Bottom_Detect_Filter_Max_Range = 201.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 102.263576 meters # Minimum depth: 768.046727 meters looking forward 100.000000 meters along route # Maximum depth: 798.823948 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.046727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354567; longitude = -118.143037; captureRadius = 10; duration = 204; initialDepth = 744.593250; finalDepth = 718.046727; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 718.046727 # Seafloor depth: -768.046727 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.969054 meters # Minimum depth: 794.593250 meters looking forward 100.000000 meters along route # Maximum depth: 798.941887 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.593250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354946; longitude = -118.142035; captureRadius = 10; duration = 211; initialDepth = 740.883572; finalDepth = 744.593250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.286659 # Actual altitude: 54.286659 # Commanded vehicle depth: 744.59325 # Seafloor depth: -798.879909 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 217.15; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.57; MB_Bottom_Detect_Filter_Max_Range = 217.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 109.595469 meters # Minimum depth: 790.883572 meters looking forward 100.000000 meters along route # Maximum depth: 794.097869 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.883572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355338; longitude = -118.140997; captureRadius = 10; duration = 219; initialDepth = 736.993038; finalDepth = 740.883572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.286659 # Actual altitude: 54.286659 # Commanded vehicle depth: 740.883572 # Seafloor depth: -794.097869 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 217.15; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.57; MB_Bottom_Detect_Filter_Max_Range = 217.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 103.515427 meters # Minimum depth: 786.993038 meters looking forward 100.000000 meters along route # Maximum depth: 790.744378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.993038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355744; longitude = -118.139923; captureRadius = 10; duration = 207; initialDepth = 733.846207; finalDepth = 736.993038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6976460000001 # Actual altitude: 53.6976460000001 # Commanded vehicle depth: 736.993038 # Seafloor depth: -790.690684 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.22; MB_Bottom_Detect_Filter_Max_Range = 214.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 104.714722 meters # Minimum depth: 783.846207 meters looking forward 100.000000 meters along route # Maximum depth: 786.486738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 733.846207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356127; longitude = -118.138909; captureRadius = 10; duration = 209; initialDepth = 734.197289; finalDepth = 733.846207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6976460000001 # Actual altitude: 53.6976460000001 # Commanded vehicle depth: 733.846207 # Seafloor depth: -786.486738 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.22; MB_Bottom_Detect_Filter_Max_Range = 214.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 109.594162 meters # Minimum depth: 784.197289 meters looking forward 100.000000 meters along route # Maximum depth: 787.138829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.197289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356515; longitude = -118.137882; captureRadius = 10; duration = 219; initialDepth = 734.790462; finalDepth = 734.197289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6405309999999 # Actual altitude: 52.6405309999999 # Commanded vehicle depth: 734.197289 # Seafloor depth: -784.197289 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.56; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.58; MB_Bottom_Detect_Filter_Max_Range = 210.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 104.767248 meters # Minimum depth: 784.790462 meters looking forward 100.000000 meters along route # Maximum depth: 789.714520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.790462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356921; longitude = -118.136808; captureRadius = 10; duration = 209; initialDepth = 739.985792; finalDepth = 734.790462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8875939999999 # Actual altitude: 50.8875939999999 # Commanded vehicle depth: 734.790462 # Seafloor depth: -785.678056 # behavior reson { duration = 6; 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 = 30.53; 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 45 # Segment length 103.460420 meters # Minimum depth: 789.985792 meters looking forward 100.000000 meters along route # Maximum depth: 792.728516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.985792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357309; longitude = -118.135782; captureRadius = 10; duration = 206; initialDepth = 742.933721; finalDepth = 739.985792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8875939999999 # Actual altitude: 50.8875939999999 # Commanded vehicle depth: 739.985792 # Seafloor depth: -789.985792 # behavior reson { duration = 6; 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 = 30.53; 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 45 # Segment length 109.592856 meters # Minimum depth: 792.933721 meters looking forward 100.000000 meters along route # Maximum depth: 794.514428 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.933721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357692; longitude = -118.134768; captureRadius = 10; duration = 219; initialDepth = 744.661299; finalDepth = 742.933721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 742.933721 # Seafloor depth: -792.933721 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.019039 meters # Minimum depth: 794.661299 meters looking forward 100.000000 meters along route # Maximum depth: 796.075711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.661299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358097; longitude = -118.133694; captureRadius = 10; duration = 212; initialDepth = 731.036128; finalDepth = 744.661299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 744.661299 # Seafloor depth: -794.661299 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.206148 meters # Minimum depth: 781.036128 meters looking forward 100.000000 meters along route # Maximum depth: 797.050589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.036128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358490; longitude = -118.132655; captureRadius = 10; duration = 204; initialDepth = 731.266289; finalDepth = 731.036128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.146026 # Actual altitude: 65.146026 # Commanded vehicle depth: 731.036128 # Seafloor depth: -796.182154 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 260.58; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.09; MB_Bottom_Detect_Filter_Max_Range = 260.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 260.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 109.591550 meters # Minimum depth: 781.266289 meters looking forward 100.000000 meters along route # Maximum depth: 782.319316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.266289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358868; longitude = -118.131653; captureRadius = 10; duration = 219; initialDepth = 732.414547; finalDepth = 731.266289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.146026 # Actual altitude: 65.146026 # Commanded vehicle depth: 731.266289 # Seafloor depth: -781.266289 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 260.58; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.09; MB_Bottom_Detect_Filter_Max_Range = 260.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 260.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 107.270801 meters # Minimum depth: 782.414547 meters looking forward 100.000000 meters along route # Maximum depth: 783.479968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.414547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359274; longitude = -118.130579; captureRadius = 10; duration = 214; initialDepth = 733.574155; finalDepth = 732.414547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 732.414547 # Seafloor depth: -782.414547 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.951905 meters # Minimum depth: 783.574155 meters looking forward 100.000000 meters along route # Maximum depth: 784.555539 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 733.574155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359671; longitude = -118.129528; captureRadius = 10; duration = 201; initialDepth = 734.675763; finalDepth = 733.574155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 733.574155 # Seafloor depth: -783.574155 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.590245 meters # Minimum depth: 784.675763 meters looking forward 100.000000 meters along route # Maximum depth: 785.818432 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.675763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360045; longitude = -118.128539; captureRadius = 10; duration = 219; initialDepth = 735.904399; finalDepth = 734.675763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 734.675763 # Seafloor depth: -784.675763 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.649635 meters # Minimum depth: 785.904399 meters looking forward 100.000000 meters along route # Maximum depth: 787.034140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.904399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360451; longitude = -118.127465; captureRadius = 10; duration = 205; initialDepth = 737.111816; finalDepth = 735.904399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 735.904399 # Seafloor depth: -785.904399 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 44 # Segment length 149.914199 meters # Minimum depth: 787.111816 meters looking forward 100.000000 meters along route # Maximum depth: 788.347992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.111816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360831; longitude = -118.126459; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 737.341518; finalDepth = 737.111816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 737.111816 # Seafloor depth: -787.111816 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 43 # Segment length 104.349879 meters # Minimum depth: 787.341518 meters looking forward 100.000000 meters along route # Maximum depth: 788.415039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.341518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359598; longitude = -118.125798; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 736.158312; finalDepth = 737.341518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.073521 # Actual altitude: 51.073521 # Commanded vehicle depth: 737.341518 # Seafloor depth: -788.415039 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.29; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.64; MB_Bottom_Detect_Filter_Max_Range = 204.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 107.851153 meters # Minimum depth: 786.158312 meters looking forward 100.000000 meters along route # Maximum depth: 787.249820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.158312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359212; longitude = -118.126821; captureRadius = 10; duration = 215; initialDepth = 735.091788; finalDepth = 736.158312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.091508 # Actual altitude: 51.091508 # Commanded vehicle depth: 736.158312 # Seafloor depth: -787.249820 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.37; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.65; 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 43 # Segment length 100.378492 meters # Minimum depth: 785.091788 meters looking forward 100.000000 meters along route # Maximum depth: 786.047358 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.091788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358812; longitude = -118.127877; captureRadius = 10; duration = 200; initialDepth = 733.938301; finalDepth = 735.091788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.091508 # Actual altitude: 51.091508 # Commanded vehicle depth: 735.091788 # Seafloor depth: -786.047358 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.37; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.65; 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 43 # Segment length 102.640363 meters # Minimum depth: 783.938301 meters looking forward 100.000000 meters along route # Maximum depth: 784.973835 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 733.938301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358441; longitude = -118.128861; captureRadius = 10; duration = 205; initialDepth = 733.253850; finalDepth = 733.938301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.035534 # Actual altitude: 51.035534 # Commanded vehicle depth: 733.938301 # Seafloor depth: -784.973835 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.14; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.62; MB_Bottom_Detect_Filter_Max_Range = 204.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 105.590907 meters # Minimum depth: 783.253850 meters looking forward 100.000000 meters along route # Maximum depth: 799.204249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 733.253850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358060; longitude = -118.129867; captureRadius = 10; duration = 211; initialDepth = 747.337403; finalDepth = 733.253850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.035534 # Actual altitude: 51.035534 # Commanded vehicle depth: 733.25385 # Seafloor depth: -783.895354 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.14; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.62; MB_Bottom_Detect_Filter_Max_Range = 204.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 109.596058 meters # Minimum depth: 797.337403 meters looking forward 100.000000 meters along route # Maximum depth: 798.860381 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.337403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357669; longitude = -118.130902; captureRadius = 10; duration = 219; initialDepth = 745.768080; finalDepth = 747.337403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.522978 # Actual altitude: 51.522978 # Commanded vehicle depth: 747.337403 # Seafloor depth: -798.860381 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.09; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.91; MB_Bottom_Detect_Filter_Max_Range = 206.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 103.845784 meters # Minimum depth: 795.768080 meters looking forward 100.000000 meters along route # Maximum depth: 797.178678 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.768080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357264; longitude = -118.131976; captureRadius = 10; duration = 207; initialDepth = 744.720479; finalDepth = 745.768080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.522978 # Actual altitude: 51.522978 # Commanded vehicle depth: 745.76808 # Seafloor depth: -797.178678 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.09; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.91; MB_Bottom_Detect_Filter_Max_Range = 206.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 104.387967 meters # Minimum depth: 794.720479 meters looking forward 100.000000 meters along route # Maximum depth: 795.702501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.720479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356879; longitude = -118.132993; captureRadius = 10; duration = 208; initialDepth = 744.672216; finalDepth = 744.720479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4105979999999 # Actual altitude: 51.4105979999999 # Commanded vehicle depth: 744.720479 # Seafloor depth: -795.702501 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.64; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.85; MB_Bottom_Detect_Filter_Max_Range = 205.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 109.597364 meters # Minimum depth: 794.672216 meters looking forward 100.000000 meters along route # Maximum depth: 795.651471 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.672216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356493; longitude = -118.134016; captureRadius = 10; duration = 219; initialDepth = 739.378425; finalDepth = 744.672216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.982022 # Actual altitude: 50.982022 # Commanded vehicle depth: 744.672216 # Seafloor depth: -794.685128 # behavior reson { duration = 6; 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 = 30.59; 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 43 # Segment length 105.051235 meters # Minimum depth: 789.378425 meters looking forward 100.000000 meters along route # Maximum depth: 795.067290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.378425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356087; longitude = -118.135090; captureRadius = 10; duration = 210; initialDepth = 736.043884; finalDepth = 739.378425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.688865 # Actual altitude: 55.688865 # Commanded vehicle depth: 739.378425 # Seafloor depth: -795.067290 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.41; MB_Bottom_Detect_Filter_Max_Range = 222.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 103.184998 meters # Minimum depth: 786.043884 meters looking forward 100.000000 meters along route # Maximum depth: 789.164099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.043884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355698; longitude = -118.136119; captureRadius = 10; duration = 206; initialDepth = 733.903431; finalDepth = 736.043884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.688865 # Actual altitude: 55.688865 # Commanded vehicle depth: 736.043884 # Seafloor depth: -789.164099 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.41; MB_Bottom_Detect_Filter_Max_Range = 222.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 109.598670 meters # Minimum depth: 783.903431 meters looking forward 100.000000 meters along route # Maximum depth: 785.387413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 733.903431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355316; longitude = -118.137131; captureRadius = 10; duration = 219; initialDepth = 734.691917; finalDepth = 733.903431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1202149999999 # Actual altitude: 53.1202149999999 # Commanded vehicle depth: 733.903431 # Seafloor depth: -785.387413 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.48; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.87; MB_Bottom_Detect_Filter_Max_Range = 212.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 106.256714 meters # Minimum depth: 784.691917 meters looking forward 100.000000 meters along route # Maximum depth: 786.425261 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.691917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354910; longitude = -118.138205; captureRadius = 10; duration = 212; initialDepth = 735.882848; finalDepth = 734.691917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4839820000001 # Actual altitude: 51.4839820000001 # Commanded vehicle depth: 734.691917 # Seafloor depth: -784.691917 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.94; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.89; MB_Bottom_Detect_Filter_Max_Range = 205.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 101.982000 meters # Minimum depth: 785.882848 meters looking forward 100.000000 meters along route # Maximum depth: 787.715461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.882848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354516; longitude = -118.139246; captureRadius = 10; duration = 203; initialDepth = 737.668317; finalDepth = 735.882848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.001605 # Actual altitude: 50.001605 # Commanded vehicle depth: 735.882848 # Seafloor depth: -785.884453 # behavior reson { duration = 6; 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 = 30.00; 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 43 # Segment length 109.599976 meters # Minimum depth: 787.668317 meters looking forward 100.000000 meters along route # Maximum depth: 791.732324 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.668317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354139; longitude = -118.140245; captureRadius = 10; duration = 219; initialDepth = 742.478858; finalDepth = 737.668317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.001605 # Actual altitude: 50.001605 # Commanded vehicle depth: 737.668317 # Seafloor depth: -787.668317 # behavior reson { duration = 6; 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 = 30.00; 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 43 # Segment length 107.462222 meters # Minimum depth: 792.478858 meters looking forward 100.000000 meters along route # Maximum depth: 794.165466 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.478858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353733; longitude = -118.141319; captureRadius = 10; duration = 214; initialDepth = 710.941236; finalDepth = 742.478858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 742.478858 # Seafloor depth: -792.478858 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.778974 meters # Minimum depth: 760.941236 meters looking forward 100.000000 meters along route # Maximum depth: 792.104084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.941236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353335; longitude = -118.142372; captureRadius = 10; duration = 201; initialDepth = 678.927494; finalDepth = 710.941236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.1628479999999 # Actual altitude: 81.1628479999999 # Commanded vehicle depth: 710.941236 # Seafloor depth: -792.104084 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 324.65; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 48.70; MB_Bottom_Detect_Filter_Max_Range = 324.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 102.251140 meters # Minimum depth: 728.927494 meters looking forward 100.000000 meters along route # Maximum depth: 755.635062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.927494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352962; longitude = -118.143360; captureRadius = 10; duration = 204; initialDepth = 678.458790; finalDepth = 678.927494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.1628479999999 # Actual altitude: 81.1628479999999 # Commanded vehicle depth: 678.927494 # Seafloor depth: -755.635062 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 324.65; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 48.70; MB_Bottom_Detect_Filter_Max_Range = 324.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 105.991682 meters # Minimum depth: 728.458790 meters looking forward 100.000000 meters along route # Maximum depth: 730.100135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.458790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352583; longitude = -118.144361; captureRadius = 10; duration = 211; initialDepth = 679.830867; finalDepth = 678.458790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.7075679999999 # Actual altitude: 76.7075679999999 # Commanded vehicle depth: 678.45879 # Seafloor depth: -728.974295 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 306.83; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.02; MB_Bottom_Detect_Filter_Max_Range = 306.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 109.602139 meters # Minimum depth: 729.830867 meters looking forward 100.000000 meters along route # Maximum depth: 731.841439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.830867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352191; longitude = -118.145400; captureRadius = 10; duration = 219; initialDepth = 681.767891; finalDepth = 679.830867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.515505 # Actual altitude: 50.515505 # Commanded vehicle depth: 679.830867 # Seafloor depth: -730.049875 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.06; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.31; MB_Bottom_Detect_Filter_Max_Range = 202.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 103.456625 meters # Minimum depth: 731.767891 meters looking forward 100.000000 meters along route # Maximum depth: 733.353657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.767891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351785; longitude = -118.146474; captureRadius = 10; duration = 206; initialDepth = 680.275344; finalDepth = 681.767891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9629080000001 # Actual altitude: 50.9629080000001 # Commanded vehicle depth: 681.767891 # Seafloor depth: -732.730799 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.85; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.58; MB_Bottom_Detect_Filter_Max_Range = 203.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 104.788680 meters # Minimum depth: 730.275344 meters looking forward 100.000000 meters along route # Maximum depth: 733.714960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.275344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351402; longitude = -118.147488; captureRadius = 10; duration = 209; initialDepth = 684.898649; finalDepth = 680.275344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.521168 # Actual altitude: 52.521168 # Commanded vehicle depth: 680.275344 # Seafloor depth: -732.796512 # behavior reson { duration = 6; 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 = 31.51; 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 43 # Segment length 110.161789 meters # Minimum depth: 734.898649 meters looking forward 100.000000 meters along route # Maximum depth: 737.149178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.898649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351014; longitude = -118.148515; captureRadius = 10; duration = 220; initialDepth = 687.438691; finalDepth = 684.898649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.521168 # Actual altitude: 52.521168 # Commanded vehicle depth: 684.898649 # Seafloor depth: -734.898649 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; 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 = 31.51; 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; } # ####################################################### # # 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: 737.438691 meters looking forward 100.000000 meters along route # Maximum depth: 739.199065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.438691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350606; longitude = -118.149594; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 685.830388; finalDepth = 687.438691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50.070769 # Actual altitude: 50.070769 # Commanded vehicle depth: 687.438691 # Seafloor depth: -737.509460 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 200.28; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.04; MB_Bottom_Detect_Filter_Max_Range = 200.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 97.402156 meters # Minimum depth: 735.830388 meters looking forward 100.000000 meters along route # Maximum depth: 737.864746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.830388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349373; longitude = -118.148932; captureRadius = 10; duration = 194; # abortOnTimeout = True; initialDepth = 681.638540; finalDepth = 685.830388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.034358 # Actual altitude: 52.034358 # Commanded vehicle depth: 685.830388 # Seafloor depth: -737.864746 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.14; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.22; MB_Bottom_Detect_Filter_Max_Range = 208.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 102.511911 meters # Minimum depth: 731.638540 meters looking forward 100.000000 meters along route # Maximum depth: 736.275357 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.638540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349734; longitude = -118.147978; captureRadius = 10; duration = 205; initialDepth = 680.579995; finalDepth = 681.638540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.210014 # Actual altitude: 54.210014 # Commanded vehicle depth: 681.63854 # Seafloor depth: -735.848554 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.84; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.53; MB_Bottom_Detect_Filter_Max_Range = 216.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 105.731991 meters # Minimum depth: 730.579995 meters looking forward 100.000000 meters along route # Maximum depth: 733.385803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.579995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350113; longitude = -118.146973; captureRadius = 10; duration = 211; initialDepth = 679.862274; finalDepth = 680.579995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.210014 # Actual altitude: 54.210014 # Commanded vehicle depth: 680.579995 # Seafloor depth: -731.828459 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.84; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.53; MB_Bottom_Detect_Filter_Max_Range = 216.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 109.601401 meters # Minimum depth: 729.862274 meters looking forward 100.000000 meters along route # Maximum depth: 732.239543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.862274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350505; longitude = -118.145937; captureRadius = 10; duration = 219; initialDepth = 678.736002; finalDepth = 679.862274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8324250000001 # Actual altitude: 51.8324250000001 # Commanded vehicle depth: 679.862274 # Seafloor depth: -731.694699 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.33; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.10; MB_Bottom_Detect_Filter_Max_Range = 207.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 103.750417 meters # Minimum depth: 728.736002 meters looking forward 100.000000 meters along route # Maximum depth: 732.977132 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.736002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350910; longitude = -118.144863; captureRadius = 10; duration = 207; initialDepth = 683.938110; finalDepth = 678.736002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8324250000001 # Actual altitude: 51.8324250000001 # Commanded vehicle depth: 678.736002 # Seafloor depth: -729.046555 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.33; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.10; MB_Bottom_Detect_Filter_Max_Range = 207.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 104.491003 meters # Minimum depth: 733.938110 meters looking forward 100.000000 meters along route # Maximum depth: 771.934207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.938110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351294; longitude = -118.143846; captureRadius = 10; duration = 208; initialDepth = 726.204480; finalDepth = 683.938110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.310553 # Actual altitude: 50.310553 # Commanded vehicle depth: 683.93811 # Seafloor depth: -733.938110 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.24; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.19; MB_Bottom_Detect_Filter_Max_Range = 201.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 109.600094 meters # Minimum depth: 776.204480 meters looking forward 100.000000 meters along route # Maximum depth: 799.136365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.204480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351681; longitude = -118.142823; captureRadius = 10; duration = 219; initialDepth = 742.767636; finalDepth = 726.204480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 726.20448 # Seafloor depth: -776.204480 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.988894 meters # Minimum depth: 792.767636 meters looking forward 100.000000 meters along route # Maximum depth: 799.099938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.767636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352087; longitude = -118.141749; captureRadius = 10; duration = 209; initialDepth = 739.428737; finalDepth = 742.767636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3323019999999 # Actual altitude: 56.3323019999999 # Commanded vehicle depth: 742.767636 # Seafloor depth: -799.099938 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 225.33; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.80; MB_Bottom_Detect_Filter_Max_Range = 225.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 103.250044 meters # Minimum depth: 789.428737 meters looking forward 100.000000 meters along route # Maximum depth: 792.996819 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.428737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352476; longitude = -118.140720; captureRadius = 10; duration = 206; initialDepth = 740.299987; finalDepth = 739.428737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3323019999999 # Actual altitude: 56.3323019999999 # Commanded vehicle depth: 739.428737 # Seafloor depth: -792.996819 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 225.33; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.80; MB_Bottom_Detect_Filter_Max_Range = 225.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 109.598788 meters # Minimum depth: 790.299987 meters looking forward 100.000000 meters along route # Maximum depth: 791.756196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.299987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352858; longitude = -118.139708; captureRadius = 10; duration = 219; initialDepth = 740.326283; finalDepth = 740.299987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.568082 # Actual altitude: 53.568082 # Commanded vehicle depth: 740.299987 # Seafloor depth: -790.299987 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.27; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.14; MB_Bottom_Detect_Filter_Max_Range = 214.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 106.227341 meters # Minimum depth: 790.326283 meters looking forward 100.000000 meters along route # Maximum depth: 792.287573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.326283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353264; longitude = -118.138634; captureRadius = 10; duration = 212; initialDepth = 739.453760; finalDepth = 740.326283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.635708 # Actual altitude: 50.635708 # Commanded vehicle depth: 740.326283 # Seafloor depth: -790.961991 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.54; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.38; MB_Bottom_Detect_Filter_Max_Range = 202.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 102.009115 meters # Minimum depth: 789.453760 meters looking forward 100.000000 meters along route # Maximum depth: 792.321123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.453760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353657; longitude = -118.137593; captureRadius = 10; duration = 204; initialDepth = 734.743848; finalDepth = 739.453760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.867363 # Actual altitude: 52.867363 # Commanded vehicle depth: 739.45376 # Seafloor depth: -792.321123 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.72; MB_Bottom_Detect_Filter_Max_Range = 211.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 109.597482 meters # Minimum depth: 784.743848 meters looking forward 100.000000 meters along route # Maximum depth: 789.290171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.743848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354035; longitude = -118.136594; captureRadius = 10; duration = 219; initialDepth = 734.751693; finalDepth = 734.743848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.546323 # Actual altitude: 54.546323 # Commanded vehicle depth: 734.743848 # Seafloor depth: -789.290171 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.19; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.73; MB_Bottom_Detect_Filter_Max_Range = 218.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 107.465760 meters # Minimum depth: 784.751693 meters looking forward 100.000000 meters along route # Maximum depth: 789.913333 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.751693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354441; longitude = -118.135520; captureRadius = 10; duration = 214; initialDepth = 740.400704; finalDepth = 734.751693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.546323 # Actual altitude: 54.546323 # Commanded vehicle depth: 734.751693 # Seafloor depth: -784.751693 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.19; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.73; MB_Bottom_Detect_Filter_Max_Range = 218.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 100.768216 meters # Minimum depth: 790.400704 meters looking forward 100.000000 meters along route # Maximum depth: 796.634673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.400704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354839; longitude = -118.134467; captureRadius = 10; duration = 201; initialDepth = 745.339382; finalDepth = 740.400704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 740.400704 # Seafloor depth: -790.400704 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 102.275842 meters # Minimum depth: 795.339382 meters looking forward 100.000000 meters along route # Maximum depth: 795.963604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.339382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355212; longitude = -118.133479; captureRadius = 10; duration = 204; initialDepth = 746.010258; finalDepth = 745.339382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0419020000001 # Actual altitude: 50.0419020000001 # Commanded vehicle depth: 745.339382 # Seafloor depth: -795.381284 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.17; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.03; MB_Bottom_Detect_Filter_Max_Range = 200.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 105.956508 meters # Minimum depth: 796.010258 meters looking forward 100.000000 meters along route # Maximum depth: 797.411868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 746.010258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355590; longitude = -118.132477; captureRadius = 10; duration = 211; initialDepth = 747.596414; finalDepth = 746.010258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0419020000001 # Actual altitude: 50.0419020000001 # Commanded vehicle depth: 746.010258 # Seafloor depth: -796.010258 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.17; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.03; MB_Bottom_Detect_Filter_Max_Range = 200.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 109.595320 meters # Minimum depth: 797.596414 meters looking forward 100.000000 meters along route # Maximum depth: 799.257320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.596414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355983; longitude = -118.131439; captureRadius = 10; duration = 219; initialDepth = 749.449866; finalDepth = 747.596414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 747.596414 # Seafloor depth: -797.596414 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.514283 meters # Minimum depth: 799.449866 meters looking forward 100.000000 meters along route # Maximum depth: 801.127246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 749.449866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356388; longitude = -118.130365; captureRadius = 10; duration = 207; initialDepth = 735.943624; finalDepth = 749.449866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 749.449866 # Seafloor depth: -799.449866 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.715587 meters # Minimum depth: 785.943624 meters looking forward 100.000000 meters along route # Maximum depth: 802.758582 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.943624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356772; longitude = -118.129350; captureRadius = 10; duration = 209; initialDepth = 752.930647; finalDepth = 735.943624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.264619 # Actual altitude: 65.264619 # Commanded vehicle depth: 735.943624 # Seafloor depth: -801.208243 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 261.06; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.16; MB_Bottom_Detect_Filter_Max_Range = 261.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 109.594015 meters # Minimum depth: 802.930647 meters looking forward 100.000000 meters along route # Maximum depth: 804.496198 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.930647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357159; longitude = -118.128324; captureRadius = 10; duration = 219; initialDepth = 754.658091; finalDepth = 752.930647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.264619 # Actual altitude: 65.264619 # Commanded vehicle depth: 752.930647 # Seafloor depth: -802.930647 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 261.06; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.16; MB_Bottom_Detect_Filter_Max_Range = 261.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 109.593565 meters # Minimum depth: 804.658091 meters looking forward 100.000000 meters along route # Maximum depth: 806.086322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.658091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357565; longitude = -118.127250; captureRadius = 10; duration = 219; initialDepth = 756.149089; finalDepth = 754.658091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 754.658091 # Seafloor depth: -804.658091 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.147571 meters # Minimum depth: 806.149089 meters looking forward 100.000000 meters along route # Maximum depth: 807.279878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.149089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357971; longitude = -118.126176; captureRadius = 10; duration = 212; initialDepth = 757.334473; finalDepth = 756.149089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 756.149089 # Seafloor depth: -806.149089 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 40 # Segment length 150.054116 meters # Minimum depth: 807.334473 meters looking forward 100.000000 meters along route # Maximum depth: 808.014040 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.334473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358364; longitude = -118.125136; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 757.031177; finalDepth = 757.334473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 757.334473 # Seafloor depth: -807.334473 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 39 # Segment length 107.947260 meters # Minimum depth: 807.031177 meters looking forward 100.000000 meters along route # Maximum depth: 808.016602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.031177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357130; longitude = -118.124474; captureRadius = 10; duration = 215; # abortOnTimeout = True; initialDepth = 755.599050; finalDepth = 757.031177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9854250000001 # Actual altitude: 50.9854250000001 # Commanded vehicle depth: 757.031177 # Seafloor depth: -808.016602 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.94; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.59; MB_Bottom_Detect_Filter_Max_Range = 203.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 104.847789 meters # Minimum depth: 805.599050 meters looking forward 100.000000 meters along route # Maximum depth: 806.898133 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.599050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356730; longitude = -118.125532; captureRadius = 10; duration = 209; initialDepth = 754.088291; finalDepth = 755.599050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.299083 # Actual altitude: 51.299083 # Commanded vehicle depth: 755.59905 # Seafloor depth: -806.898133 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.20; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.78; MB_Bottom_Detect_Filter_Max_Range = 205.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 103.382787 meters # Minimum depth: 804.088291 meters looking forward 100.000000 meters along route # Maximum depth: 805.507132 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.088291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356342; longitude = -118.126559; captureRadius = 10; duration = 206; initialDepth = 752.228273; finalDepth = 754.088291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4188409999999 # Actual altitude: 51.4188409999999 # Commanded vehicle depth: 754.088291 # Seafloor depth: -805.507132 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.68; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.85; MB_Bottom_Detect_Filter_Max_Range = 205.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 109.595693 meters # Minimum depth: 802.228273 meters looking forward 100.000000 meters along route # Maximum depth: 803.904746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.228273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355959; longitude = -118.127572; captureRadius = 10; duration = 219; initialDepth = 750.327338; finalDepth = 752.228273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6764730000001 # Actual altitude: 51.6764730000001 # Commanded vehicle depth: 752.228273 # Seafloor depth: -803.904746 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.71; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.01; MB_Bottom_Detect_Filter_Max_Range = 206.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 106.088717 meters # Minimum depth: 800.327338 meters looking forward 100.000000 meters along route # Maximum depth: 802.063514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.327338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355554; longitude = -118.128646; captureRadius = 10; duration = 212; initialDepth = 748.470101; finalDepth = 750.327338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.736176 # Actual altitude: 51.736176 # Commanded vehicle depth: 750.327338 # Seafloor depth: -802.063514 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.94; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.04; MB_Bottom_Detect_Filter_Max_Range = 206.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 102.144340 meters # Minimum depth: 798.470101 meters looking forward 100.000000 meters along route # Maximum depth: 800.191490 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 748.470101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355161; longitude = -118.129686; captureRadius = 10; duration = 204; initialDepth = 745.939947; finalDepth = 748.470101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.736176 # Actual altitude: 51.736176 # Commanded vehicle depth: 748.470101 # Seafloor depth: -800.191490 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.94; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.04; MB_Bottom_Detect_Filter_Max_Range = 206.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 109.596999 meters # Minimum depth: 795.939947 meters looking forward 100.000000 meters along route # Maximum depth: 798.243986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.939947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354783; longitude = -118.130687; captureRadius = 10; duration = 219; initialDepth = 742.773500; finalDepth = 745.939947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.304039 # Actual altitude: 52.304039 # Commanded vehicle depth: 745.939947 # Seafloor depth: -798.243986 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.22; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.38; MB_Bottom_Detect_Filter_Max_Range = 209.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 107.329673 meters # Minimum depth: 792.773500 meters looking forward 100.000000 meters along route # Maximum depth: 795.712530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.773500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354377; longitude = -118.131761; captureRadius = 10; duration = 214; initialDepth = 739.779714; finalDepth = 742.773500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.93903 # Actual altitude: 52.93903 # Commanded vehicle depth: 742.7735 # Seafloor depth: -795.712530 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.76; MB_Bottom_Detect_Filter_Max_Range = 211.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 100.905864 meters # Minimum depth: 789.779714 meters looking forward 100.000000 meters along route # Maximum depth: 792.252368 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.779714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353979; longitude = -118.132813; captureRadius = 10; duration = 201; initialDepth = 740.711117; finalDepth = 739.779714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.93903 # Actual altitude: 52.93903 # Commanded vehicle depth: 739.779714 # Seafloor depth: -792.252368 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.76; MB_Bottom_Detect_Filter_Max_Range = 211.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 102.141313 meters # Minimum depth: 790.711117 meters looking forward 100.000000 meters along route # Maximum depth: 793.261116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.711117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353606; longitude = -118.133801; captureRadius = 10; duration = 204; initialDepth = 738.448196; finalDepth = 740.711117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.472654 # Actual altitude: 52.472654 # Commanded vehicle depth: 740.711117 # Seafloor depth: -792.504493 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.89; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.48; MB_Bottom_Detect_Filter_Max_Range = 209.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 106.095850 meters # Minimum depth: 788.448196 meters looking forward 100.000000 meters along route # Maximum depth: 790.578141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.448196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353228; longitude = -118.134802; captureRadius = 10; duration = 212; initialDepth = 736.765674; finalDepth = 738.448196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1299449999999 # Actual altitude: 52.1299449999999 # Commanded vehicle depth: 738.448196 # Seafloor depth: -790.578141 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.52; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.28; MB_Bottom_Detect_Filter_Max_Range = 208.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 109.599159 meters # Minimum depth: 786.765674 meters looking forward 100.000000 meters along route # Maximum depth: 788.641158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.765674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352835; longitude = -118.135842; captureRadius = 10; duration = 219; initialDepth = 736.492795; finalDepth = 736.765674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1299449999999 # Actual altitude: 52.1299449999999 # Commanded vehicle depth: 736.765674 # Seafloor depth: -788.641158 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.52; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.28; MB_Bottom_Detect_Filter_Max_Range = 208.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 103.382248 meters # Minimum depth: 786.492795 meters looking forward 100.000000 meters along route # Maximum depth: 787.546902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.492795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352429; longitude = -118.136916; captureRadius = 10; duration = 206; initialDepth = 736.216009; finalDepth = 736.492795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.875484 # Actual altitude: 51.875484 # Commanded vehicle depth: 736.492795 # Seafloor depth: -787.008641 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.50; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.13; MB_Bottom_Detect_Filter_Max_Range = 207.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 104.857396 meters # Minimum depth: 786.216009 meters looking forward 100.000000 meters along route # Maximum depth: 786.640771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.216009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352046; longitude = -118.137929; captureRadius = 10; duration = 209; initialDepth = 736.611891; finalDepth = 736.216009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.515846 # Actual altitude: 50.515846 # Commanded vehicle depth: 736.216009 # Seafloor depth: -786.545262 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.06; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.31; MB_Bottom_Detect_Filter_Max_Range = 202.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 109.600466 meters # Minimum depth: 786.611891 meters looking forward 100.000000 meters along route # Maximum depth: 789.375904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.611891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351658; longitude = -118.138956; captureRadius = 10; duration = 219; initialDepth = 739.997344; finalDepth = 736.611891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.329253 # Actual altitude: 50.329253 # Commanded vehicle depth: 736.611891 # Seafloor depth: -786.672519 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.32; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.20; MB_Bottom_Detect_Filter_Max_Range = 201.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 104.623211 meters # Minimum depth: 789.997344 meters looking forward 100.000000 meters along route # Maximum depth: 796.435031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.997344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351252; longitude = -118.140030; captureRadius = 10; duration = 209; initialDepth = 746.521656; finalDepth = 739.997344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.060628 # Actual altitude: 50.060628 # Commanded vehicle depth: 739.997344 # Seafloor depth: -789.997344 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.24; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.04; MB_Bottom_Detect_Filter_Max_Range = 200.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 103.618914 meters # Minimum depth: 796.521656 meters looking forward 100.000000 meters along route # Maximum depth: 800.789834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 746.521656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350865; longitude = -118.141055; captureRadius = 10; duration = 207; initialDepth = 700.803484; finalDepth = 746.521656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.169057 # Actual altitude: 50.169057 # Commanded vehicle depth: 746.521656 # Seafloor depth: -796.690713 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.68; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.10; MB_Bottom_Detect_Filter_Max_Range = 200.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 109.601772 meters # Minimum depth: 750.803484 meters looking forward 100.000000 meters along route # Maximum depth: 793.199116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.803484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350481; longitude = -118.142071; captureRadius = 10; duration = 219; initialDepth = 679.549891; finalDepth = 700.803484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.395632 # Actual altitude: 92.395632 # Commanded vehicle depth: 700.803484 # Seafloor depth: -793.199116 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 55.44; 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 39 # Segment length 105.864206 meters # Minimum depth: 729.549891 meters looking forward 100.000000 meters along route # Maximum depth: 744.427900 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.549891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350076; longitude = -118.143145; captureRadius = 10; duration = 211; initialDepth = 678.574479; finalDepth = 679.549891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.395632 # Actual altitude: 92.395632 # Commanded vehicle depth: 679.549891 # Seafloor depth: -744.427900 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 55.44; 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 39 # Segment length 102.380401 meters # Minimum depth: 728.574479 meters looking forward 100.000000 meters along route # Maximum depth: 730.714678 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.574479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349684; longitude = -118.144182; captureRadius = 10; duration = 204; initialDepth = 678.548218; finalDepth = 678.574479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.878009 # Actual altitude: 64.878009 # Commanded vehicle depth: 678.574479 # Seafloor depth: -729.621755 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 259.51; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.93; MB_Bottom_Detect_Filter_Max_Range = 259.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 259.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 100.675608 meters # Minimum depth: 728.548218 meters looking forward 100.000000 meters along route # Maximum depth: 738.809061 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.548218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349305; longitude = -118.145185; captureRadius = 10; duration = 201; initialDepth = 683.974170; finalDepth = 678.548218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.047276 # Actual altitude: 51.047276 # Commanded vehicle depth: 678.548218 # Seafloor depth: -728.548218 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.19; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.63; MB_Bottom_Detect_Filter_Max_Range = 204.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 107.570626 meters # Minimum depth: 733.974170 meters looking forward 100.000000 meters along route # Maximum depth: 738.879649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.974170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348932; longitude = -118.146172; captureRadius = 10; duration = 215; initialDepth = 685.031749; finalDepth = 683.974170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.905479 # Actual altitude: 54.905479 # Commanded vehicle depth: 683.97417 # Seafloor depth: -738.879649 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 219.62; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.94; MB_Bottom_Detect_Filter_Max_Range = 219.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.62; 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: 735.031749 meters looking forward 100.000000 meters along route # Maximum depth: 739.987304 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.031749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348534; longitude = -118.147226; captureRadius = 10; duration = 213; initialDepth = 688.485072; finalDepth = 685.031749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.905479 # Actual altitude: 54.905479 # Commanded vehicle depth: 685.031749 # Seafloor depth: -735.135110 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 219.62; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.94; MB_Bottom_Detect_Filter_Max_Range = 219.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.62; 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 38 # Segment length 149.956615 meters # Minimum depth: 738.485072 meters looking forward 100.000000 meters along route # Maximum depth: 740.132217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.485072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348139; longitude = -118.148270; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 687.321731; finalDepth = 688.485072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 51.647145 # Actual altitude: 51.647145 # Commanded vehicle depth: 688.485072 # Seafloor depth: -740.132217 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; 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 = 30.99; 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 to get to end of line 37 # Segment length 93.807797 meters # Minimum depth: 737.321731 meters looking forward 100.000000 meters along route # Maximum depth: 738.206528 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.321731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346906; longitude = -118.147608; captureRadius = 10; duration = 187; # abortOnTimeout = True; initialDepth = 684.771427; finalDepth = 687.321731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.647145 # Actual altitude: 51.647145 # Commanded vehicle depth: 687.321731 # Seafloor depth: -738.206528 # behavior reson { duration = 6; 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 = 30.99; 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 37 # Segment length 105.264273 meters # Minimum depth: 734.771427 meters looking forward 100.000000 meters along route # Maximum depth: 739.561063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.771427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347253; longitude = -118.146689; captureRadius = 10; duration = 210; initialDepth = 681.105344; finalDepth = 684.771427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.190738 # Actual altitude: 54.190738 # Commanded vehicle depth: 684.771427 # Seafloor depth: -738.962165 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.51; MB_Bottom_Detect_Filter_Max_Range = 216.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 102.985936 meters # Minimum depth: 731.105344 meters looking forward 100.000000 meters along route # Maximum depth: 734.991652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.105344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347643; longitude = -118.145657; captureRadius = 10; duration = 205; initialDepth = 679.411470; finalDepth = 681.105344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.190738 # Actual altitude: 54.190738 # Commanded vehicle depth: 681.105344 # Seafloor depth: -734.964896 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.51; MB_Bottom_Detect_Filter_Max_Range = 216.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 109.604720 meters # Minimum depth: 729.411470 meters looking forward 100.000000 meters along route # Maximum depth: 733.099600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.411470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348024; longitude = -118.144648; captureRadius = 10; duration = 219; initialDepth = 680.727460; finalDepth = 679.411470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.859552 # Actual altitude: 53.859552 # Commanded vehicle depth: 679.41147 # Seafloor depth: -731.468008 # behavior reson { duration = 6; 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 = 32.32; 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 37 # Segment length 106.489374 meters # Minimum depth: 730.727460 meters looking forward 100.000000 meters along route # Maximum depth: 740.666686 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.727460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348430; longitude = -118.143574; captureRadius = 10; duration = 212; initialDepth = 694.764452; finalDepth = 680.727460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.056538 # Actual altitude: 52.056538 # Commanded vehicle depth: 680.72746 # Seafloor depth: -732.123799 # behavior reson { duration = 6; 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 = 31.23; 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 during line 37 # Segment length 101.758353 meters # Minimum depth: 744.764452 meters looking forward 100.000000 meters along route # Maximum depth: 787.689521 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.764452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348824; longitude = -118.142531; captureRadius = 10; duration = 203; initialDepth = 742.215150; finalDepth = 694.764452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.396339 # Actual altitude: 51.396339 # Commanded vehicle depth: 694.764452 # Seafloor depth: -744.764452 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.59; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.84; MB_Bottom_Detect_Filter_Max_Range = 205.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 109.603413 meters # Minimum depth: 793.269029 meters looking forward 100.000000 meters along route # Maximum depth: 801.248613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.215150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349201; longitude = -118.141534; captureRadius = 10; duration = 219; initialDepth = 738.732931; finalDepth = 742.215150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0538786369374 # Actual altitude: 51.0538786369374 # Commanded vehicle depth: 742.215150363063 # Seafloor depth: -793.269029 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.22; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.63; MB_Bottom_Detect_Filter_Max_Range = 204.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.714447 meters # Minimum depth: 788.732931 meters looking forward 100.000000 meters along route # Maximum depth: 795.597647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.732931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349607; longitude = -118.140460; captureRadius = 10; duration = 215; initialDepth = 738.170470; finalDepth = 738.732931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.864716 # Actual altitude: 56.864716 # Commanded vehicle depth: 738.732931 # Seafloor depth: -795.597647 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 227.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.12; MB_Bottom_Detect_Filter_Max_Range = 227.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 100.530798 meters # Minimum depth: 788.170470 meters looking forward 100.000000 meters along route # Maximum depth: 788.871386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.170470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350006; longitude = -118.139404; captureRadius = 10; duration = 201; initialDepth = 735.857129; finalDepth = 738.170470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.864716 # Actual altitude: 56.864716 # Commanded vehicle depth: 738.17047 # Seafloor depth: -788.796453 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 227.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.12; MB_Bottom_Detect_Filter_Max_Range = 227.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 102.515714 meters # Minimum depth: 785.857129 meters looking forward 100.000000 meters along route # Maximum depth: 788.227083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.857129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350378; longitude = -118.138419; captureRadius = 10; duration = 205; initialDepth = 735.953031; finalDepth = 735.857129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.140566 # Actual altitude: 52.140566 # Commanded vehicle depth: 735.857129 # Seafloor depth: -787.997695 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.56; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.28; MB_Bottom_Detect_Filter_Max_Range = 208.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 105.727905 meters # Minimum depth: 785.953031 meters looking forward 100.000000 meters along route # Maximum depth: 787.004757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.953031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350758; longitude = -118.137415; captureRadius = 10; duration = 211; initialDepth = 737.035517; finalDepth = 735.953031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.140566 # Actual altitude: 52.140566 # Commanded vehicle depth: 735.953031 # Seafloor depth: -785.953031 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.56; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.28; MB_Bottom_Detect_Filter_Max_Range = 208.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 109.601252 meters # Minimum depth: 787.035517 meters looking forward 100.000000 meters along route # Maximum depth: 787.432008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.035517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351149; longitude = -118.136379; captureRadius = 10; duration = 219; initialDepth = 737.311343; finalDepth = 737.035517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1112959999999 # Actual altitude: 50.1112959999999 # Commanded vehicle depth: 737.035517 # Seafloor depth: -787.146813 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.45; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.07; MB_Bottom_Detect_Filter_Max_Range = 200.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 103.740810 meters # Minimum depth: 787.311343 meters looking forward 100.000000 meters along route # Maximum depth: 788.033935 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.311343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351555; longitude = -118.135305; captureRadius = 10; duration = 207; initialDepth = 738.203418; finalDepth = 737.311343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1112959999999 # Actual altitude: 50.1112959999999 # Commanded vehicle depth: 737.311343 # Seafloor depth: -787.311343 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.45; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.07; MB_Bottom_Detect_Filter_Max_Range = 200.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 104.500329 meters # Minimum depth: 788.203418 meters looking forward 100.000000 meters along route # Maximum depth: 790.709877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.203418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351939; longitude = -118.134288; captureRadius = 10; duration = 209; initialDepth = 741.382477; finalDepth = 738.203418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 738.203418 # Seafloor depth: -788.203418 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.599946 meters # Minimum depth: 791.382477 meters looking forward 100.000000 meters along route # Maximum depth: 795.425661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.382477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352326; longitude = -118.133264; captureRadius = 10; duration = 219; initialDepth = 745.947170; finalDepth = 741.382477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 741.382477 # Seafloor depth: -791.382477 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 104.965876 meters # Minimum depth: 795.947170 meters looking forward 100.000000 meters along route # Maximum depth: 797.303581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.947170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352732; longitude = -118.132190; captureRadius = 10; duration = 209; initialDepth = 747.066260; finalDepth = 745.947170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 745.94717 # Seafloor depth: -795.947170 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.272781 meters # Minimum depth: 797.066260 meters looking forward 100.000000 meters along route # Maximum depth: 798.702428 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.066260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353120; longitude = -118.131162; captureRadius = 10; duration = 206; initialDepth = 748.887899; finalDepth = 747.066260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 747.06626 # Seafloor depth: -797.066260 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.598641 meters # Minimum depth: 798.887899 meters looking forward 100.000000 meters along route # Maximum depth: 800.596426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 748.887899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353503; longitude = -118.130150; captureRadius = 10; duration = 219; initialDepth = 750.773733; finalDepth = 748.887899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 748.887899 # Seafloor depth: -798.887899 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.190914 meters # Minimum depth: 800.773733 meters looking forward 100.000000 meters along route # Maximum depth: 802.533306 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.773733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353908; longitude = -118.129076; captureRadius = 10; duration = 212; initialDepth = 752.669485; finalDepth = 750.773733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 750.773733 # Seafloor depth: -800.773733 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.045263 meters # Minimum depth: 802.669485 meters looking forward 100.000000 meters along route # Maximum depth: 804.246572 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.669485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354302; longitude = -118.128035; captureRadius = 10; duration = 204; initialDepth = 754.430254; finalDepth = 752.669485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 752.669485 # Seafloor depth: -802.669485 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.597336 meters # Minimum depth: 804.430254 meters looking forward 100.000000 meters along route # Maximum depth: 806.006922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.430254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354679; longitude = -118.127035; captureRadius = 10; duration = 219; initialDepth = 756.130215; finalDepth = 754.430254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 754.430254 # Seafloor depth: -804.430254 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.596885 meters # Minimum depth: 806.130215 meters looking forward 100.000000 meters along route # Maximum depth: 807.504422 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.130215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355085; longitude = -118.125961; captureRadius = 10; duration = 219; initialDepth = 757.530619; finalDepth = 756.130215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 756.130215 # Seafloor depth: -806.130215 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.645718 meters # Minimum depth: 807.530619 meters looking forward 100.000000 meters along route # Maximum depth: 808.606850 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.530619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355491; longitude = -118.124887; captureRadius = 10; duration = 219; initialDepth = 758.645996; finalDepth = 757.530619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 757.530619 # Seafloor depth: -807.530619 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 36 # Segment length 150.054733 meters # Minimum depth: 808.645996 meters looking forward 100.000000 meters along route # Maximum depth: 809.057968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.645996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355897; longitude = -118.123813; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 758.310772; finalDepth = 758.645996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 758.645996 # Seafloor depth: -808.645996 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 35 # Segment length 97.613388 meters # Minimum depth: 808.310772 meters looking forward 100.000000 meters along route # Maximum depth: 809.093750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.310772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354663; longitude = -118.123151; captureRadius = 10; duration = 195; # abortOnTimeout = True; initialDepth = 757.220755; finalDepth = 758.310772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.782978 # Actual altitude: 50.782978 # Commanded vehicle depth: 758.310772 # Seafloor depth: -809.093750 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.13; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.47; MB_Bottom_Detect_Filter_Max_Range = 203.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.509194 meters # Minimum depth: 807.220755 meters looking forward 100.000000 meters along route # Maximum depth: 808.233642 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.220755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354302; longitude = -118.124108; captureRadius = 10; duration = 203; initialDepth = 755.597632; finalDepth = 757.220755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.012887 # Actual altitude: 51.012887 # Commanded vehicle depth: 757.220755 # Seafloor depth: -808.233642 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.61; MB_Bottom_Detect_Filter_Max_Range = 204.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 109.597741 meters # Minimum depth: 805.597632 meters looking forward 100.000000 meters along route # Maximum depth: 807.079108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.597632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353926; longitude = -118.125102; captureRadius = 10; duration = 219; initialDepth = 753.748890; finalDepth = 755.597632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.481476 # Actual altitude: 51.481476 # Commanded vehicle depth: 755.597632 # Seafloor depth: -807.079108 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.93; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.89; MB_Bottom_Detect_Filter_Max_Range = 205.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 107.966248 meters # Minimum depth: 803.748890 meters looking forward 100.000000 meters along route # Maximum depth: 805.466143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.748890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353520; longitude = -118.126176; captureRadius = 10; duration = 215; initialDepth = 751.860300; finalDepth = 753.748890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.717253 # Actual altitude: 51.717253 # Commanded vehicle depth: 753.74889 # Seafloor depth: -805.466143 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.87; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.03; MB_Bottom_Detect_Filter_Max_Range = 206.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 100.270701 meters # Minimum depth: 801.860300 meters looking forward 100.000000 meters along route # Maximum depth: 803.576747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.860300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353120; longitude = -118.127234; captureRadius = 10; duration = 200; initialDepth = 749.702270; finalDepth = 751.860300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.717253 # Actual altitude: 51.717253 # Commanded vehicle depth: 751.8603 # Seafloor depth: -803.576747 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.87; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.03; MB_Bottom_Detect_Filter_Max_Range = 206.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 102.777856 meters # Minimum depth: 799.702270 meters looking forward 100.000000 meters along route # Maximum depth: 801.649354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 749.702270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352749; longitude = -118.128217; captureRadius = 10; duration = 205; initialDepth = 747.928623; finalDepth = 749.702270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.947084 # Actual altitude: 51.947084 # Commanded vehicle depth: 749.70227 # Seafloor depth: -801.649354 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.17; MB_Bottom_Detect_Filter_Max_Range = 207.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 105.460718 meters # Minimum depth: 797.928623 meters looking forward 100.000000 meters along route # Maximum depth: 799.621858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.928623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352368; longitude = -118.129224; captureRadius = 10; duration = 210; initialDepth = 747.753315; finalDepth = 747.928623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.947084 # Actual altitude: 51.947084 # Commanded vehicle depth: 747.928623 # Seafloor depth: -799.621858 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.17; MB_Bottom_Detect_Filter_Max_Range = 207.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 109.599902 meters # Minimum depth: 797.753315 meters looking forward 100.000000 meters along route # Maximum depth: 798.150106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.753315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351978; longitude = -118.130257; captureRadius = 10; duration = 219; initialDepth = 748.287689; finalDepth = 747.753315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.693235 # Actual altitude: 51.693235 # Commanded vehicle depth: 747.753315 # Seafloor depth: -797.806888 # behavior reson { duration = 6; 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 = 31.02; 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 35 # Segment length 104.018805 meters # Minimum depth: 798.287689 meters looking forward 100.000000 meters along route # Maximum depth: 800.285279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 748.287689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351572; longitude = -118.131331; captureRadius = 10; duration = 208; initialDepth = 745.089546; finalDepth = 748.287689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.293696 # Actual altitude: 50.293696 # Commanded vehicle depth: 748.287689 # Seafloor depth: -798.581385 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.17; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.18; MB_Bottom_Detect_Filter_Max_Range = 201.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 104.222248 meters # Minimum depth: 795.089546 meters looking forward 100.000000 meters along route # Maximum depth: 798.158010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.089546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351187; longitude = -118.132350; captureRadius = 10; duration = 208; initialDepth = 743.062881; finalDepth = 745.089546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0684639999999 # Actual altitude: 53.0684639999999 # Commanded vehicle depth: 745.089546 # Seafloor depth: -798.158010 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.27; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.84; MB_Bottom_Detect_Filter_Max_Range = 212.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 109.601208 meters # Minimum depth: 793.062881 meters looking forward 100.000000 meters along route # Maximum depth: 794.440979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.062881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350801; longitude = -118.133372; captureRadius = 10; duration = 219; initialDepth = 741.698677; finalDepth = 743.062881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0684639999999 # Actual altitude: 53.0684639999999 # Commanded vehicle depth: 743.062881 # Seafloor depth: -794.440979 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.27; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.84; MB_Bottom_Detect_Filter_Max_Range = 212.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 105.259786 meters # Minimum depth: 791.698677 meters looking forward 100.000000 meters along route # Maximum depth: 793.566487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.698677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350395; longitude = -118.134446; captureRadius = 10; duration = 210; initialDepth = 740.890419; finalDepth = 741.698677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7712260000001 # Actual altitude: 51.7712260000001 # Commanded vehicle depth: 741.698677 # Seafloor depth: -793.469903 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.08; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.06; MB_Bottom_Detect_Filter_Max_Range = 207.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 102.983748 meters # Minimum depth: 790.890419 meters looking forward 100.000000 meters along route # Maximum depth: 791.599384 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.890419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350006; longitude = -118.135477; captureRadius = 10; duration = 205; initialDepth = 739.720308; finalDepth = 740.890419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7712260000001 # Actual altitude: 51.7712260000001 # Commanded vehicle depth: 740.890419 # Seafloor depth: -791.599384 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.08; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.06; MB_Bottom_Detect_Filter_Max_Range = 207.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 109.602514 meters # Minimum depth: 789.720308 meters looking forward 100.000000 meters along route # Maximum depth: 790.594240 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.720308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349624; longitude = -118.136486; captureRadius = 10; duration = 219; initialDepth = 737.960124; finalDepth = 739.720308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.873932 # Actual altitude: 50.873932 # Commanded vehicle depth: 739.720308 # Seafloor depth: -790.594240 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.50; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.52; MB_Bottom_Detect_Filter_Max_Range = 203.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 106.500795 meters # Minimum depth: 787.960124 meters looking forward 100.000000 meters along route # Maximum depth: 790.251116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.960124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349219; longitude = -118.137560; captureRadius = 10; duration = 213; initialDepth = 739.887895; finalDepth = 737.960124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.357516 # Actual altitude: 51.357516 # Commanded vehicle depth: 737.960124 # Seafloor depth: -789.317640 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.43; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.81; MB_Bottom_Detect_Filter_Max_Range = 205.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 101.745220 meters # Minimum depth: 789.887895 meters looking forward 100.000000 meters along route # Maximum depth: 793.827950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.887895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348824; longitude = -118.138604; captureRadius = 10; duration = 203; initialDepth = 744.111610; finalDepth = 739.887895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.357516 # Actual altitude: 51.357516 # Commanded vehicle depth: 739.887895 # Seafloor depth: -790.397932 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.43; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.81; MB_Bottom_Detect_Filter_Max_Range = 205.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 109.603819 meters # Minimum depth: 794.111610 meters looking forward 100.000000 meters along route # Maximum depth: 801.047950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.111610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348448; longitude = -118.139601; captureRadius = 10; duration = 219; initialDepth = 707.394290; finalDepth = 744.111610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.510037 # Actual altitude: 50.510037 # Commanded vehicle depth: 744.11161 # Seafloor depth: -794.111610 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.04; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.31; MB_Bottom_Detect_Filter_Max_Range = 202.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 107.741835 meters # Minimum depth: 757.394290 meters looking forward 100.000000 meters along route # Maximum depth: 799.416616 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.394290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348042; longitude = -118.140675; captureRadius = 10; duration = 215; initialDepth = 682.724360; finalDepth = 707.394290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.022326 # Actual altitude: 92.022326 # Commanded vehicle depth: 707.39429 # Seafloor depth: -799.416616 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 55.21; 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 35 # Segment length 100.506662 meters # Minimum depth: 732.724360 meters looking forward 100.000000 meters along route # Maximum depth: 751.677089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.724360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347643; longitude = -118.141730; captureRadius = 10; duration = 201; initialDepth = 679.112176; finalDepth = 682.724360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.022326 # Actual altitude: 92.022326 # Commanded vehicle depth: 682.72436 # Seafloor depth: -751.677089 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 55.21; 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 35 # Segment length 109.605126 meters # Minimum depth: 729.112176 meters looking forward 100.000000 meters along route # Maximum depth: 735.208092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.112176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347271; longitude = -118.142715; captureRadius = 10; duration = 219; initialDepth = 678.240030; finalDepth = 679.112176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.952729 # Actual altitude: 68.952729 # Commanded vehicle depth: 679.112176 # Seafloor depth: -735.208092 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 275.81; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.37; MB_Bottom_Detect_Filter_Max_Range = 275.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 109.605575 meters # Minimum depth: 728.240030 meters looking forward 100.000000 meters along route # Maximum depth: 736.506019 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.240030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346865; longitude = -118.143789; captureRadius = 10; duration = 219; initialDepth = 686.279799; finalDepth = 678.240030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.095916 # Actual altitude: 56.095916 # Commanded vehicle depth: 678.24003 # Seafloor depth: -728.240030 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 224.38; 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 = 224.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 109.606026 meters # Minimum depth: 736.279799 meters looking forward 100.000000 meters along route # Maximum depth: 739.177395 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.279799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346459; longitude = -118.144863; captureRadius = 10; duration = 219; initialDepth = 689.417695; finalDepth = 686.279799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.007538 # Actual altitude: 50.007538 # Commanded vehicle depth: 686.279799 # Seafloor depth: -736.287337 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.03; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 35 # Segment length 103.072246 meters # Minimum depth: 739.417695 meters looking forward 100.000000 meters along route # Maximum depth: 740.924514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.417695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346054; longitude = -118.145937; captureRadius = 10; duration = 206; initialDepth = 691.324799; finalDepth = 689.417695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.007538 # Actual altitude: 50.007538 # Commanded vehicle depth: 689.417695 # Seafloor depth: -739.417695 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; 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 = 30.00; 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; } # ####################################################### # # 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: 741.324799 meters looking forward 100.000000 meters along route # Maximum depth: 743.209555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.324799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345672; longitude = -118.146947; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 689.303999; finalDepth = 691.324799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 691.324799 # Seafloor depth: -741.324799 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 101.274757 meters # Minimum depth: 739.303999 meters looking forward 100.000000 meters along route # Maximum depth: 743.688907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.303999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344439; longitude = -118.146285; captureRadius = 10; duration = 202; # abortOnTimeout = True; initialDepth = 685.997000; finalDepth = 689.303999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.942797 # Actual altitude: 53.942797 # Commanded vehicle depth: 689.303999 # Seafloor depth: -743.246796 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 215.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.37; MB_Bottom_Detect_Filter_Max_Range = 215.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.607297 meters # Minimum depth: 735.997000 meters looking forward 100.000000 meters along route # Maximum depth: 739.323581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.997000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344814; longitude = -118.145293; captureRadius = 10; duration = 219; initialDepth = 684.959900; finalDepth = 685.997000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.942797 # Actual altitude: 53.942797 # Commanded vehicle depth: 685.997 # Seafloor depth: -739.323581 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 215.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.37; MB_Bottom_Detect_Filter_Max_Range = 215.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 103.398171 meters # Minimum depth: 734.959900 meters looking forward 100.000000 meters along route # Maximum depth: 738.420298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.959900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345220; longitude = -118.144219; captureRadius = 10; duration = 206; initialDepth = 680.391371; finalDepth = 684.959900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.326581 # Actual altitude: 53.326581 # Commanded vehicle depth: 684.9599 # Seafloor depth: -735.580912 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.31; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.00; MB_Bottom_Detect_Filter_Max_Range = 213.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 104.854453 meters # Minimum depth: 730.391371 meters looking forward 100.000000 meters along route # Maximum depth: 739.155011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.391371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345603; longitude = -118.143206; captureRadius = 10; duration = 209; initialDepth = 681.653225; finalDepth = 680.391371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.408995 # Actual altitude: 58.408995 # Commanded vehicle depth: 680.391371 # Seafloor depth: -738.800366 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 233.64; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.05; MB_Bottom_Detect_Filter_Max_Range = 233.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 109.605991 meters # Minimum depth: 731.653225 meters looking forward 100.000000 meters along route # Maximum depth: 739.279429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.653225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345991; longitude = -118.142178; captureRadius = 10; duration = 219; initialDepth = 694.196556; finalDepth = 681.653225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.408995 # Actual altitude: 58.408995 # Commanded vehicle depth: 681.653225 # Seafloor depth: -732.823905 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 233.64; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.05; MB_Bottom_Detect_Filter_Max_Range = 233.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 104.636718 meters # Minimum depth: 744.196556 meters looking forward 100.000000 meters along route # Maximum depth: 795.184150 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.196556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346396; longitude = -118.141104; captureRadius = 10; duration = 209; initialDepth = 742.989458; finalDepth = 694.196556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1706799999999 # Actual altitude: 51.1706799999999 # Commanded vehicle depth: 694.196556 # Seafloor depth: -744.196556 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.68; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.70; 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 33 # Segment length 103.613424 meters # Minimum depth: 796.419708 meters looking forward 100.000000 meters along route # Maximum depth: 801.721040 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.989458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346784; longitude = -118.140079; captureRadius = 10; duration = 207; initialDepth = 742.121262; finalDepth = 742.989458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4302500205557 # Actual altitude: 53.4302500205557 # Commanded vehicle depth: 742.989457979444 # Seafloor depth: -796.419708 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.72; 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 = 213.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 109.604684 meters # Minimum depth: 792.121262 meters looking forward 100.000000 meters along route # Maximum depth: 797.781309 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.121262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347167; longitude = -118.139064; captureRadius = 10; duration = 219; initialDepth = 741.571662; finalDepth = 742.121262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.660047 # Actual altitude: 55.660047 # Commanded vehicle depth: 742.121262 # Seafloor depth: -797.781309 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.64; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.40; MB_Bottom_Detect_Filter_Max_Range = 222.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 105.875238 meters # Minimum depth: 791.571662 meters looking forward 100.000000 meters along route # Maximum depth: 792.139061 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.571662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347573; longitude = -118.137990; captureRadius = 10; duration = 211; initialDepth = 741.061678; finalDepth = 741.571662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.660047 # Actual altitude: 55.660047 # Commanded vehicle depth: 741.571662 # Seafloor depth: -791.902836 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.64; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.40; MB_Bottom_Detect_Filter_Max_Range = 222.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 102.372423 meters # Minimum depth: 791.061678 meters looking forward 100.000000 meters along route # Maximum depth: 792.449626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.061678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347965; longitude = -118.136952; captureRadius = 10; duration = 204; initialDepth = 740.085118; finalDepth = 741.061678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.683086 # Actual altitude: 50.683086 # Commanded vehicle depth: 741.061678 # Seafloor depth: -791.744764 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.73; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.41; MB_Bottom_Detect_Filter_Max_Range = 202.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 109.603379 meters # Minimum depth: 790.085118 meters looking forward 100.000000 meters along route # Maximum depth: 790.555700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.085118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348344; longitude = -118.135949; captureRadius = 10; duration = 219; initialDepth = 740.728224; finalDepth = 740.085118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.683086 # Actual altitude: 50.683086 # Commanded vehicle depth: 740.085118 # Seafloor depth: -790.516521 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.73; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.41; MB_Bottom_Detect_Filter_Max_Range = 202.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 107.113727 meters # Minimum depth: 790.728224 meters looking forward 100.000000 meters along route # Maximum depth: 793.141027 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.728224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348750; longitude = -118.134875; captureRadius = 10; duration = 214; initialDepth = 738.613186; finalDepth = 740.728224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.431403 # Actual altitude: 50.431403 # Commanded vehicle depth: 740.728224 # Seafloor depth: -790.728224 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.73; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.26; MB_Bottom_Detect_Filter_Max_Range = 201.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 101.131453 meters # Minimum depth: 788.613186 meters looking forward 100.000000 meters along route # Maximum depth: 791.673606 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.613186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349147; longitude = -118.133826; captureRadius = 10; duration = 202; initialDepth = 737.188487; finalDepth = 738.613186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0604199999999 # Actual altitude: 53.0604199999999 # Commanded vehicle depth: 738.613186 # Seafloor depth: -791.673606 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.24; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.84; MB_Bottom_Detect_Filter_Max_Range = 212.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 101.923533 meters # Minimum depth: 787.188487 meters looking forward 100.000000 meters along route # Maximum depth: 791.713656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.188487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349521; longitude = -118.132835; captureRadius = 10; duration = 203; initialDepth = 741.973468; finalDepth = 737.188487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0604199999999 # Actual altitude: 53.0604199999999 # Commanded vehicle depth: 737.188487 # Seafloor depth: -788.282271 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.24; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.84; MB_Bottom_Detect_Filter_Max_Range = 212.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 106.320022 meters # Minimum depth: 791.973468 meters looking forward 100.000000 meters along route # Maximum depth: 800.305946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.973468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349898; longitude = -118.131836; captureRadius = 10; duration = 212; initialDepth = 748.293173; finalDepth = 741.973468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.093784 # Actual altitude: 51.093784 # Commanded vehicle depth: 741.973468 # Seafloor depth: -791.973468 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.38; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.66; MB_Bottom_Detect_Filter_Max_Range = 204.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 109.601218 meters # Minimum depth: 798.293173 meters looking forward 100.000000 meters along route # Maximum depth: 802.384535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 748.293173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350292; longitude = -118.130794; captureRadius = 10; duration = 219; initialDepth = 747.208996; finalDepth = 748.293173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.785997 # Actual altitude: 52.785997 # Commanded vehicle depth: 748.293173 # Seafloor depth: -801.079170 # behavior reson { duration = 6; 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 = 31.67; 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 33 # Segment length 103.162045 meters # Minimum depth: 797.208996 meters looking forward 100.000000 meters along route # Maximum depth: 798.945258 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.208996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350698; longitude = -118.129720; captureRadius = 10; duration = 206; initialDepth = 749.074177; finalDepth = 747.208996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.785997 # Actual altitude: 52.785997 # Commanded vehicle depth: 747.208996 # Seafloor depth: -797.728251 # behavior reson { duration = 6; 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 = 31.67; 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 33 # Segment length 105.079030 meters # Minimum depth: 799.074177 meters looking forward 100.000000 meters along route # Maximum depth: 801.626058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 749.074177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351080; longitude = -118.128709; captureRadius = 10; duration = 210; initialDepth = 751.904878; finalDepth = 749.074177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.519255 # Actual altitude: 50.519255 # Commanded vehicle depth: 749.074177 # Seafloor depth: -799.074177 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.08; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.31; MB_Bottom_Detect_Filter_Max_Range = 202.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 109.599913 meters # Minimum depth: 801.904878 meters looking forward 100.000000 meters along route # Maximum depth: 804.117907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.904878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351469; longitude = -118.127680; captureRadius = 10; duration = 219; initialDepth = 754.339473; finalDepth = 751.904878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 751.904878 # Seafloor depth: -801.904878 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.400528 meters # Minimum depth: 804.339473 meters looking forward 100.000000 meters along route # Maximum depth: 806.082433 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.339473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351875; longitude = -118.126606; captureRadius = 10; duration = 208; initialDepth = 756.171249; finalDepth = 754.339473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 754.339473 # Seafloor depth: -804.339473 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.838066 meters # Minimum depth: 806.171249 meters looking forward 100.000000 meters along route # Maximum depth: 807.458984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.171249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352261; longitude = -118.125583; captureRadius = 10; duration = 207; initialDepth = 757.592420; finalDepth = 756.171249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 756.171249 # Seafloor depth: -806.171249 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.598608 meters # Minimum depth: 807.592420 meters looking forward 100.000000 meters along route # Maximum depth: 808.604500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.592420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352646; longitude = -118.124565; captureRadius = 10; duration = 219; initialDepth = 758.696857; finalDepth = 757.592420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 757.59242 # Seafloor depth: -807.592420 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.284685 meters # Minimum depth: 808.696857 meters looking forward 100.000000 meters along route # Maximum depth: 809.404364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.696857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353051; longitude = -118.123491; captureRadius = 10; duration = 204; initialDepth = 759.430176; finalDepth = 758.696857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 758.696857 # Seafloor depth: -808.696857 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 150.017172 meters # Minimum depth: 809.430176 meters looking forward 100.000000 meters along route # Maximum depth: 809.654804 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.430176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353430; longitude = -118.122489; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 759.210081; finalDepth = 759.430176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 759.430176 # Seafloor depth: -809.430176 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 31 # Segment length 98.451814 meters # Minimum depth: 809.210081 meters looking forward 100.000000 meters along route # Maximum depth: 809.662598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.210081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352196; longitude = -118.121828; captureRadius = 10; duration = 196; # abortOnTimeout = True; initialDepth = 758.507110; finalDepth = 759.210081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4525170000001 # Actual altitude: 50.4525170000001 # Commanded vehicle depth: 759.210081 # Seafloor depth: -809.662598 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.81; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.27; MB_Bottom_Detect_Filter_Max_Range = 201.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 104.171852 meters # Minimum depth: 808.507110 meters looking forward 100.000000 meters along route # Maximum depth: 809.175124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.507110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351831; longitude = -118.122793; captureRadius = 10; duration = 208; initialDepth = 757.414965; finalDepth = 758.507110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.668014 # Actual altitude: 50.668014 # Commanded vehicle depth: 758.50711 # Seafloor depth: -809.175124 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.67; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.40; MB_Bottom_Detect_Filter_Max_Range = 202.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 109.601062 meters # Minimum depth: 807.414965 meters looking forward 100.000000 meters along route # Maximum depth: 808.412025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.414965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351446; longitude = -118.123813; captureRadius = 10; duration = 219; initialDepth = 755.847403; finalDepth = 757.414965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9970599999999 # Actual altitude: 50.9970599999999 # Commanded vehicle depth: 757.414965 # Seafloor depth: -808.412025 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.99; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.60; MB_Bottom_Detect_Filter_Max_Range = 203.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 105.296493 meters # Minimum depth: 805.847403 meters looking forward 100.000000 meters along route # Maximum depth: 807.286227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.847403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351040; longitude = -118.124887; captureRadius = 10; duration = 210; initialDepth = 753.799604; finalDepth = 755.847403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4388240000001 # Actual altitude: 51.4388240000001 # Commanded vehicle depth: 755.847403 # Seafloor depth: -807.286227 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.86; MB_Bottom_Detect_Filter_Max_Range = 205.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 102.946763 meters # Minimum depth: 803.799604 meters looking forward 100.000000 meters along route # Maximum depth: 805.734501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.799604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350650; longitude = -118.125919; captureRadius = 10; duration = 205; initialDepth = 750.524889; finalDepth = 753.799604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.934897 # Actual altitude: 51.934897 # Commanded vehicle depth: 753.799604 # Seafloor depth: -805.734501 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.74; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.16; MB_Bottom_Detect_Filter_Max_Range = 207.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 109.602366 meters # Minimum depth: 800.524889 meters looking forward 100.000000 meters along route # Maximum depth: 803.517464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.524889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350269; longitude = -118.126928; captureRadius = 10; duration = 219; initialDepth = 744.181280; finalDepth = 750.524889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.992575 # Actual altitude: 52.992575 # Commanded vehicle depth: 750.524889 # Seafloor depth: -803.517464 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.97; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.80; MB_Bottom_Detect_Filter_Max_Range = 211.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.524092 meters # Minimum depth: 794.181280 meters looking forward 100.000000 meters along route # Maximum depth: 800.205249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.181280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349863; longitude = -118.128002; captureRadius = 10; duration = 213; initialDepth = 744.951722; finalDepth = 744.181280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.023969 # Actual altitude: 56.023969 # Commanded vehicle depth: 744.18128 # Seafloor depth: -800.205249 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 224.10; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.61; MB_Bottom_Detect_Filter_Max_Range = 224.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 101.721644 meters # Minimum depth: 794.951722 meters looking forward 100.000000 meters along route # Maximum depth: 800.582878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.951722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349469; longitude = -118.129046; captureRadius = 10; duration = 203; initialDepth = 744.207284; finalDepth = 744.951722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.023969 # Actual altitude: 56.023969 # Commanded vehicle depth: 744.951722 # Seafloor depth: -794.951722 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 224.10; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.61; MB_Bottom_Detect_Filter_Max_Range = 224.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 109.603672 meters # Minimum depth: 794.207284 meters looking forward 100.000000 meters along route # Maximum depth: 799.431822 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.207284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349092; longitude = -118.130042; captureRadius = 10; duration = 219; initialDepth = 743.843907; finalDepth = 744.207284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2245380000001 # Actual altitude: 55.2245380000001 # Commanded vehicle depth: 744.207284 # Seafloor depth: -799.431822 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.90; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.13; MB_Bottom_Detect_Filter_Max_Range = 220.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 107.751719 meters # Minimum depth: 793.843907 meters looking forward 100.000000 meters along route # Maximum depth: 795.109871 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.843907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348686; longitude = -118.131116; captureRadius = 10; duration = 215; initialDepth = 744.854371; finalDepth = 743.843907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2245380000001 # Actual altitude: 55.2245380000001 # Commanded vehicle depth: 743.843907 # Seafloor depth: -793.989985 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.90; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.13; MB_Bottom_Detect_Filter_Max_Range = 220.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.496497 meters # Minimum depth: 794.854371 meters looking forward 100.000000 meters along route # Maximum depth: 796.635194 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.854371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348287; longitude = -118.132172; captureRadius = 10; duration = 200; initialDepth = 743.616917; finalDepth = 744.854371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6277729999999 # Actual altitude: 50.6277729999999 # Commanded vehicle depth: 744.854371 # Seafloor depth: -795.482144 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.51; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.38; MB_Bottom_Detect_Filter_Max_Range = 202.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 102.554512 meters # Minimum depth: 793.616917 meters looking forward 100.000000 meters along route # Maximum depth: 794.896872 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.616917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347915; longitude = -118.133157; captureRadius = 10; duration = 205; initialDepth = 741.665901; finalDepth = 743.616917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7488530000001 # Actual altitude: 50.7488530000001 # Commanded vehicle depth: 743.616917 # Seafloor depth: -794.365770 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.45; 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 31 # Segment length 105.695329 meters # Minimum depth: 791.665901 meters looking forward 100.000000 meters along route # Maximum depth: 794.221222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.665901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347536; longitude = -118.134162; captureRadius = 10; duration = 211; initialDepth = 738.612616; finalDepth = 741.665901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4394110000001 # Actual altitude: 52.4394110000001 # Commanded vehicle depth: 741.665901 # Seafloor depth: -794.105312 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.76; 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 = 209.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 109.605833 meters # Minimum depth: 788.612616 meters looking forward 100.000000 meters along route # Maximum depth: 791.429205 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.612616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347144; longitude = -118.135197; captureRadius = 10; duration = 219; initialDepth = 741.187459; finalDepth = 738.612616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.787816 # Actual altitude: 52.787816 # Commanded vehicle depth: 738.612616 # Seafloor depth: -791.400432 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.15; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.67; MB_Bottom_Detect_Filter_Max_Range = 211.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.782117 meters # Minimum depth: 791.187459 meters looking forward 100.000000 meters along route # Maximum depth: 793.105827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.187459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346739; longitude = -118.136271; captureRadius = 10; duration = 207; initialDepth = 742.045315; finalDepth = 741.187459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.787816 # Actual altitude: 52.787816 # Commanded vehicle depth: 741.187459 # Seafloor depth: -792.469393 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.15; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.67; MB_Bottom_Detect_Filter_Max_Range = 211.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 104.470205 meters # Minimum depth: 792.045315 meters looking forward 100.000000 meters along route # Maximum depth: 799.456334 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.045315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346354; longitude = -118.137288; captureRadius = 10; duration = 208; initialDepth = 738.731232; finalDepth = 742.045315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.281934 # Actual altitude: 51.281934 # Commanded vehicle depth: 742.045315 # Seafloor depth: -792.045315 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.13; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.77; MB_Bottom_Detect_Filter_Max_Range = 205.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 109.607139 meters # Minimum depth: 788.731232 meters looking forward 100.000000 meters along route # Maximum depth: 802.507228 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 738.731232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345967; longitude = -118.138312; captureRadius = 10; duration = 219; initialDepth = 689.546275; finalDepth = 738.731232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.730331 # Actual altitude: 61.730331 # Commanded vehicle depth: 738.731232 # Seafloor depth: -800.461563 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 246.92; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.04; MB_Bottom_Detect_Filter_Max_Range = 246.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 246.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 105.009751 meters # Minimum depth: 739.546275 meters looking forward 100.000000 meters along route # Maximum depth: 784.043703 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.546275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345562; longitude = -118.139386; captureRadius = 10; duration = 210; initialDepth = 678.226232; finalDepth = 689.546275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.497428 # Actual altitude: 94.497428 # Commanded vehicle depth: 689.546275 # Seafloor depth: -784.043703 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 56.70; 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 103.245052 meters # Minimum depth: 728.226232 meters looking forward 100.000000 meters along route # Maximum depth: 738.111769 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.226232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345173; longitude = -118.140415; captureRadius = 10; duration = 206; initialDepth = 681.151565; finalDepth = 678.226232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.497428 # Actual altitude: 94.497428 # Commanded vehicle depth: 678.226232 # Seafloor depth: -738.111769 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 56.70; 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 109.608444 meters # Minimum depth: 731.151565 meters looking forward 100.000000 meters along route # Maximum depth: 735.448192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.151565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344791; longitude = -118.141426; captureRadius = 10; duration = 219; initialDepth = 684.049789; finalDepth = 681.151565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.885537 # Actual altitude: 59.885537 # Commanded vehicle depth: 681.151565 # Seafloor depth: -732.488936 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 239.54; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.93; MB_Bottom_Detect_Filter_Max_Range = 239.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.237416 meters # Minimum depth: 734.049789 meters looking forward 100.000000 meters along route # Maximum depth: 736.296568 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.049789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344385; longitude = -118.142500; captureRadius = 10; duration = 212; initialDepth = 686.869304; finalDepth = 684.049789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.337371 # Actual altitude: 51.337371 # Commanded vehicle depth: 684.049789 # Seafloor depth: -734.747789 # behavior reson { duration = 6; 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 = 30.80; 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 31 # Segment length 102.019869 meters # Minimum depth: 736.869304 meters looking forward 100.000000 meters along route # Maximum depth: 739.444895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.869304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343992; longitude = -118.143541; captureRadius = 10; duration = 204; initialDepth = 690.049261; finalDepth = 686.869304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.698 # Actual altitude: 50.698 # Commanded vehicle depth: 686.869304 # Seafloor depth: -736.869304 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.42; MB_Bottom_Detect_Filter_Max_Range = 202.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 110.438889 meters # Minimum depth: 740.049261 meters looking forward 100.000000 meters along route # Maximum depth: 742.984122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.049261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343614; longitude = -118.144541; captureRadius = 10; duration = 220; initialDepth = 689.956543; finalDepth = 690.049261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 690.049261 # Seafloor depth: -740.049261 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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: 739.956543 meters looking forward 100.000000 meters along route # Maximum depth: 743.566695 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.956543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343205; longitude = -118.145623; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 689.956543; finalDepth = 689.956543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 53.304352 # Actual altitude: 53.304352 # Commanded vehicle depth: 689.956543 # Seafloor depth: -743.260895 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 213.22; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.98; MB_Bottom_Detect_Filter_Max_Range = 213.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 97.678520 meters # Minimum depth: 739.956543 meters looking forward 100.000000 meters along route # Maximum depth: 745.134330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.956543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341972; longitude = -118.144961; captureRadius = 10; duration = 195; # abortOnTimeout = True; initialDepth = 690.196015; finalDepth = 689.956543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.304352 # Actual altitude: 53.304352 # Commanded vehicle depth: 689.956543 # Seafloor depth: -740.957199 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.22; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.98; MB_Bottom_Detect_Filter_Max_Range = 213.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.608561 meters # Minimum depth: 740.196015 meters looking forward 100.000000 meters along route # Maximum depth: 743.887644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.196015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342334; longitude = -118.144004; captureRadius = 10; duration = 219; initialDepth = 686.246001; finalDepth = 690.196015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.691629 # Actual altitude: 53.691629 # Commanded vehicle depth: 690.196015 # Seafloor depth: -743.887644 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.21; MB_Bottom_Detect_Filter_Max_Range = 214.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 106.178744 meters # Minimum depth: 736.246001 meters looking forward 100.000000 meters along route # Maximum depth: 739.485501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.246001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342739; longitude = -118.142930; captureRadius = 10; duration = 212; initialDepth = 685.328504; finalDepth = 686.246001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.691629 # Actual altitude: 53.691629 # Commanded vehicle depth: 686.246001 # Seafloor depth: -739.485501 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.21; MB_Bottom_Detect_Filter_Max_Range = 214.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 102.076283 meters # Minimum depth: 735.328504 meters looking forward 100.000000 meters along route # Maximum depth: 737.583573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.328504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343132; longitude = -118.141890; captureRadius = 10; duration = 204; initialDepth = 679.935394; finalDepth = 685.328504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2395 # Actual altitude: 53.2395 # Commanded vehicle depth: 685.328504 # Seafloor depth: -736.431914 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.96; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.94; MB_Bottom_Detect_Filter_Max_Range = 212.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 109.607256 meters # Minimum depth: 729.935394 meters looking forward 100.000000 meters along route # Maximum depth: 738.143276 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.935394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343510; longitude = -118.140889; captureRadius = 10; duration = 219; initialDepth = 681.604069; finalDepth = 679.935394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.207882 # Actual altitude: 58.207882 # Commanded vehicle depth: 679.935394 # Seafloor depth: -738.143276 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 232.83; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.92; MB_Bottom_Detect_Filter_Max_Range = 232.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 107.439356 meters # Minimum depth: 731.604069 meters looking forward 100.000000 meters along route # Maximum depth: 742.097952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.604069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343916; longitude = -118.139815; captureRadius = 10; duration = 214; initialDepth = 695.381809; finalDepth = 681.604069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.207882 # Actual altitude: 58.207882 # Commanded vehicle depth: 681.604069 # Seafloor depth: -731.604069 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 232.83; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.92; MB_Bottom_Detect_Filter_Max_Range = 232.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.813189 meters # Minimum depth: 745.381809 meters looking forward 100.000000 meters along route # Maximum depth: 792.644010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.381809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344314; longitude = -118.138763; captureRadius = 10; duration = 201; initialDepth = 742.391770; finalDepth = 695.381809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 695.381809 # Seafloor depth: -745.381809 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.263030 meters # Minimum depth: 795.265816 meters looking forward 100.000000 meters along route # Maximum depth: 802.997024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.391770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344687; longitude = -118.137775; captureRadius = 10; duration = 204; initialDepth = 744.221530; finalDepth = 742.391770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8740458397872 # Actual altitude: 52.8740458397872 # Commanded vehicle depth: 742.391770160213 # Seafloor depth: -795.265816 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.50; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.72; MB_Bottom_Detect_Filter_Max_Range = 211.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 105.987890 meters # Minimum depth: 794.221530 meters looking forward 100.000000 meters along route # Maximum depth: 799.629634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.221530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345066; longitude = -118.136773; captureRadius = 10; duration = 211; initialDepth = 743.758494; finalDepth = 744.221530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.408104 # Actual altitude: 55.408104 # Commanded vehicle depth: 744.22153 # Seafloor depth: -799.629634 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.63; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.24; MB_Bottom_Detect_Filter_Max_Range = 221.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 109.605095 meters # Minimum depth: 793.758494 meters looking forward 100.000000 meters along route # Maximum depth: 795.440355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.758494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345458; longitude = -118.135734; captureRadius = 10; duration = 219; initialDepth = 743.041770; finalDepth = 743.758494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.408104 # Actual altitude: 55.408104 # Commanded vehicle depth: 743.758494 # Seafloor depth: -794.397743 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.63; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.24; MB_Bottom_Detect_Filter_Max_Range = 221.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.523665 meters # Minimum depth: 793.041770 meters looking forward 100.000000 meters along route # Maximum depth: 793.698085 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.041770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345864; longitude = -118.134660; captureRadius = 10; duration = 207; initialDepth = 743.743953; finalDepth = 743.041770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6392489999999 # Actual altitude: 50.6392489999999 # Commanded vehicle depth: 743.04177 # Seafloor depth: -793.554476 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.56; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.38; MB_Bottom_Detect_Filter_Max_Range = 202.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.724775 meters # Minimum depth: 793.743953 meters looking forward 100.000000 meters along route # Maximum depth: 795.274022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.743953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346247; longitude = -118.133646; captureRadius = 10; duration = 209; initialDepth = 745.035330; finalDepth = 743.743953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.512706 # Actual altitude: 50.512706 # Commanded vehicle depth: 743.743953 # Seafloor depth: -793.743953 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.31; MB_Bottom_Detect_Filter_Max_Range = 202.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 109.603789 meters # Minimum depth: 795.035330 meters looking forward 100.000000 meters along route # Maximum depth: 796.931445 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.035330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346635; longitude = -118.132620; captureRadius = 10; duration = 219; initialDepth = 745.671233; finalDepth = 745.035330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 745.03533 # Seafloor depth: -795.035330 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.784270 meters # Minimum depth: 795.671233 meters looking forward 100.000000 meters along route # Maximum depth: 796.494036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.671233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347040; longitude = -118.131546; captureRadius = 10; duration = 209; initialDepth = 746.692877; finalDepth = 745.671233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.599937 # Actual altitude: 50.599937 # Commanded vehicle depth: 745.671233 # Seafloor depth: -796.271170 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.40; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.36; MB_Bottom_Detect_Filter_Max_Range = 202.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.461690 meters # Minimum depth: 796.692877 meters looking forward 100.000000 meters along route # Maximum depth: 798.579789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 746.692877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347428; longitude = -118.130519; captureRadius = 10; duration = 206; initialDepth = 748.994613; finalDepth = 746.692877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.599937 # Actual altitude: 50.599937 # Commanded vehicle depth: 746.692877 # Seafloor depth: -796.692877 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.40; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.36; MB_Bottom_Detect_Filter_Max_Range = 202.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 109.602484 meters # Minimum depth: 798.994613 meters looking forward 100.000000 meters along route # Maximum depth: 804.555650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 748.994613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347811; longitude = -118.129505; captureRadius = 10; duration = 219; initialDepth = 753.229939; finalDepth = 748.994613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 748.994613 # Seafloor depth: -798.994613 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.044845 meters # Minimum depth: 803.229939 meters looking forward 100.000000 meters along route # Maximum depth: 805.235665 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.229939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348217; longitude = -118.128432; captureRadius = 10; duration = 212; initialDepth = 752.262972; finalDepth = 753.229939; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5191140000001 # Actual altitude: 51.5191140000001 # Commanded vehicle depth: 753.229939 # Seafloor depth: -804.749053 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.08; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.91; MB_Bottom_Detect_Filter_Max_Range = 206.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 102.198635 meters # Minimum depth: 802.262972 meters looking forward 100.000000 meters along route # Maximum depth: 805.768029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.262972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348610; longitude = -118.127392; captureRadius = 10; duration = 204; initialDepth = 756.113375; finalDepth = 752.262972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5191140000001 # Actual altitude: 51.5191140000001 # Commanded vehicle depth: 752.262972 # Seafloor depth: -803.093487 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.08; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.91; MB_Bottom_Detect_Filter_Max_Range = 206.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 109.601179 meters # Minimum depth: 806.113375 meters looking forward 100.000000 meters along route # Maximum depth: 807.773152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.113375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348988; longitude = -118.126391; captureRadius = 10; duration = 219; initialDepth = 757.849849; finalDepth = 756.113375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.830515 # Actual altitude: 50.830515 # Commanded vehicle depth: 756.113375 # Seafloor depth: -806.113375 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.32; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.50; MB_Bottom_Detect_Filter_Max_Range = 203.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 107.305390 meters # Minimum depth: 807.849849 meters looking forward 100.000000 meters along route # Maximum depth: 808.479986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.849849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349394; longitude = -118.125317; captureRadius = 10; duration = 214; initialDepth = 758.520748; finalDepth = 757.849849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 757.849849 # Seafloor depth: -807.849849 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.935610 meters # Minimum depth: 808.520748 meters looking forward 100.000000 meters along route # Maximum depth: 808.939025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.520748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349791; longitude = -118.124266; captureRadius = 10; duration = 201; initialDepth = 758.986730; finalDepth = 758.520748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 758.520748 # Seafloor depth: -808.520748 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.599874 meters # Minimum depth: 808.986730 meters looking forward 100.000000 meters along route # Maximum depth: 809.408921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.986730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350165; longitude = -118.123277; captureRadius = 10; duration = 219; initialDepth = 759.435044; finalDepth = 758.986730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 758.98673 # Seafloor depth: -808.986730 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.780894 meters # Minimum depth: 809.435044 meters looking forward 100.000000 meters along route # Maximum depth: 809.705591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.435044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350570; longitude = -118.122203; captureRadius = 10; duration = 211; initialDepth = 759.595703; finalDepth = 759.435044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 759.435044 # Seafloor depth: -809.435044 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 28 # Segment length 149.916663 meters # Minimum depth: 809.595703 meters looking forward 100.000000 meters along route # Maximum depth: 809.710449 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.595703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350962; longitude = -118.121166; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 759.447224; finalDepth = 759.595703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50.1147460000001 # Actual altitude: 50.1147460000001 # Commanded vehicle depth: 759.595703 # Seafloor depth: -809.710449 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 200.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.07; MB_Bottom_Detect_Filter_Max_Range = 200.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 107.481404 meters # Minimum depth: 809.447224 meters looking forward 100.000000 meters along route # Maximum depth: 809.583984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.447224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349729; longitude = -118.120505; captureRadius = 10; duration = 214; # abortOnTimeout = True; initialDepth = 759.267384; finalDepth = 759.447224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.13676 # Actual altitude: 50.13676 # Commanded vehicle depth: 759.447224 # Seafloor depth: -809.583984 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.55; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.08; MB_Bottom_Detect_Filter_Max_Range = 200.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 107.832240 meters # Minimum depth: 809.267384 meters looking forward 100.000000 meters along route # Maximum depth: 809.429480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.267384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349331; longitude = -118.121558; captureRadius = 10; duration = 215; initialDepth = 759.244953; finalDepth = 759.267384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.162096 # Actual altitude: 50.162096 # Commanded vehicle depth: 759.267384 # Seafloor depth: -809.429480 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.65; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.10; MB_Bottom_Detect_Filter_Max_Range = 200.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.415699 meters # Minimum depth: 809.244953 meters looking forward 100.000000 meters along route # Maximum depth: 809.322610 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.244953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348932; longitude = -118.122615; captureRadius = 10; duration = 200; initialDepth = 759.351423; finalDepth = 759.244953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.162096 # Actual altitude: 50.162096 # Commanded vehicle depth: 759.244953 # Seafloor depth: -809.258760 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.65; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.10; MB_Bottom_Detect_Filter_Max_Range = 200.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 102.626506 meters # Minimum depth: 809.351423 meters looking forward 100.000000 meters along route # Maximum depth: 810.104890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.351423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348560; longitude = -118.123599; captureRadius = 10; duration = 205; initialDepth = 760.157642; finalDepth = 759.351423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.013807 # Actual altitude: 50.013807 # Commanded vehicle depth: 759.351423 # Seafloor depth: -809.351423 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.06; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.01; MB_Bottom_Detect_Filter_Max_Range = 200.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 105.623058 meters # Minimum depth: 810.157642 meters looking forward 100.000000 meters along route # Maximum depth: 811.617550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.157642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348180; longitude = -118.124604; captureRadius = 10; duration = 211; initialDepth = 760.766126; finalDepth = 760.157642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 760.157642 # Seafloor depth: -810.157642 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.605685 meters # Minimum depth: 810.766126 meters looking forward 100.000000 meters along route # Maximum depth: 811.666009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.766126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347789; longitude = -118.125639; captureRadius = 10; duration = 219; initialDepth = 755.207099; finalDepth = 760.766126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.899883 # Actual altitude: 50.899883 # Commanded vehicle depth: 760.766126 # Seafloor depth: -811.666009 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.60; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.54; MB_Bottom_Detect_Filter_Max_Range = 203.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.840701 meters # Minimum depth: 805.207099 meters looking forward 100.000000 meters along route # Maximum depth: 811.123030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.207099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347383; longitude = -118.126713; captureRadius = 10; duration = 207; initialDepth = 753.467565; finalDepth = 755.207099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.915931 # Actual altitude: 55.915931 # Commanded vehicle depth: 755.207099 # Seafloor depth: -811.123030 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 223.66; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.55; MB_Bottom_Detect_Filter_Max_Range = 223.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.411343 meters # Minimum depth: 803.467565 meters looking forward 100.000000 meters along route # Maximum depth: 805.058615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.467565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346999; longitude = -118.127731; captureRadius = 10; duration = 208; initialDepth = 748.991198; finalDepth = 753.467565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.915931 # Actual altitude: 55.915931 # Commanded vehicle depth: 753.467565 # Seafloor depth: -805.058615 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 223.66; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.55; MB_Bottom_Detect_Filter_Max_Range = 223.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 109.606991 meters # Minimum depth: 798.991198 meters looking forward 100.000000 meters along route # Maximum depth: 803.218328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 748.991198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346612; longitude = -118.128754; captureRadius = 10; duration = 219; initialDepth = 749.207611; finalDepth = 748.991198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.22713 # Actual altitude: 54.22713 # Commanded vehicle depth: 748.991198 # Seafloor depth: -803.218328 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.91; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.54; MB_Bottom_Detect_Filter_Max_Range = 216.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 105.054923 meters # Minimum depth: 799.207611 meters looking forward 100.000000 meters along route # Maximum depth: 801.509450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 749.207611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346206; longitude = -118.129828; captureRadius = 10; duration = 210; initialDepth = 749.401709; finalDepth = 749.207611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.22713 # Actual altitude: 54.22713 # Commanded vehicle depth: 749.207611 # Seafloor depth: -799.207611 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.91; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.54; MB_Bottom_Detect_Filter_Max_Range = 216.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.199600 meters # Minimum depth: 799.401709 meters looking forward 100.000000 meters along route # Maximum depth: 801.695900 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 749.401709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345817; longitude = -118.130857; captureRadius = 10; duration = 206; initialDepth = 747.600644; finalDepth = 749.401709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.527545 # Actual altitude: 51.527545 # Commanded vehicle depth: 749.401709 # Seafloor depth: -800.929254 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.11; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.92; MB_Bottom_Detect_Filter_Max_Range = 206.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 109.608296 meters # Minimum depth: 797.600644 meters looking forward 100.000000 meters along route # Maximum depth: 799.100411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.600644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345435; longitude = -118.131868; captureRadius = 10; duration = 219; initialDepth = 746.803307; finalDepth = 747.600644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.527545 # Actual altitude: 51.527545 # Commanded vehicle depth: 747.600644 # Seafloor depth: -799.100411 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.11; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.92; MB_Bottom_Detect_Filter_Max_Range = 206.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.269175 meters # Minimum depth: 796.803307 meters looking forward 100.000000 meters along route # Maximum depth: 799.013832 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 746.803307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345029; longitude = -118.132942; captureRadius = 10; duration = 212; initialDepth = 747.771489; finalDepth = 746.803307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.054455 # Actual altitude: 52.054455 # Commanded vehicle depth: 746.803307 # Seafloor depth: -798.857762 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.22; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.23; MB_Bottom_Detect_Filter_Max_Range = 208.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 101.987829 meters # Minimum depth: 797.771489 meters looking forward 100.000000 meters along route # Maximum depth: 800.302675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.771489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344636; longitude = -118.133983; captureRadius = 10; duration = 203; initialDepth = 750.876267; finalDepth = 747.771489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.054455 # Actual altitude: 52.054455 # Commanded vehicle depth: 747.771489 # Seafloor depth: -797.771489 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.22; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.23; MB_Bottom_Detect_Filter_Max_Range = 208.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 109.609602 meters # Minimum depth: 800.876267 meters looking forward 100.000000 meters along route # Maximum depth: 803.090548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.876267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344258; longitude = -118.134983; captureRadius = 10; duration = 219; initialDepth = 707.233103; finalDepth = 750.876267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1716280000001 # Actual altitude: 50.1716280000001 # Commanded vehicle depth: 750.876267 # Seafloor depth: -801.047895 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.69; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.10; MB_Bottom_Detect_Filter_Max_Range = 200.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 107.483456 meters # Minimum depth: 757.233103 meters looking forward 100.000000 meters along route # Maximum depth: 798.935246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.233103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343853; longitude = -118.136057; captureRadius = 10; duration = 214; initialDepth = 687.571821; finalDepth = 707.233103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.702143 # Actual altitude: 91.702143 # Commanded vehicle depth: 707.233103 # Seafloor depth: -798.935246 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 55.02; 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 27 # Segment length 100.776028 meters # Minimum depth: 737.571821 meters looking forward 100.000000 meters along route # Maximum depth: 752.422321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.571821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343455; longitude = -118.137110; captureRadius = 10; duration = 201; initialDepth = 685.456089; finalDepth = 687.571821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.702143 # Actual altitude: 91.702143 # Commanded vehicle depth: 687.571821 # Seafloor depth: -752.422321 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 55.02; 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 27 # Segment length 102.277432 meters # Minimum depth: 735.456089 meters looking forward 100.000000 meters along route # Maximum depth: 737.457931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.456089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343081; longitude = -118.138097; captureRadius = 10; duration = 204; initialDepth = 684.433987; finalDepth = 685.456089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.8505 # Actual altitude: 64.8505 # Commanded vehicle depth: 685.456089 # Seafloor depth: -737.457931 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 259.40; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.91; MB_Bottom_Detect_Filter_Max_Range = 259.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 259.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 105.983678 meters # Minimum depth: 734.433987 meters looking forward 100.000000 meters along route # Maximum depth: 739.641905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.433987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342703; longitude = -118.139099; captureRadius = 10; duration = 211; initialDepth = 687.211056; finalDepth = 684.433987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.001842 # Actual altitude: 52.001842 # Commanded vehicle depth: 684.433987 # Seafloor depth: -735.476862 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.01; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.20; 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 27 # Segment length 109.611763 meters # Minimum depth: 737.211056 meters looking forward 100.000000 meters along route # Maximum depth: 739.568704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.211056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342310; longitude = -118.140138; captureRadius = 10; duration = 219; initialDepth = 689.776350; finalDepth = 687.211056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.357648 # Actual altitude: 52.357648 # Commanded vehicle depth: 687.211056 # Seafloor depth: -739.568704 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.43; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.41; MB_Bottom_Detect_Filter_Max_Range = 209.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.491690 meters # Minimum depth: 739.776350 meters looking forward 100.000000 meters along route # Maximum depth: 742.758689 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.776350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341905; longitude = -118.141212; captureRadius = 10; duration = 206; initialDepth = 692.931140; finalDepth = 689.776350; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.357648 # Actual altitude: 52.357648 # Commanded vehicle depth: 689.77635 # Seafloor depth: -739.776350 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.43; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.41; MB_Bottom_Detect_Filter_Max_Range = 209.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.771901 meters # Minimum depth: 742.931140 meters looking forward 100.000000 meters along route # Maximum depth: 746.057667 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.931140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341521; longitude = -118.142226; captureRadius = 10; duration = 209; initialDepth = 687.438953; finalDepth = 692.931140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 692.93114 # Seafloor depth: -742.931140 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.844692 meters # Minimum depth: 737.438953 meters looking forward 100.000000 meters along route # Maximum depth: 745.310589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.438953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341134; longitude = -118.143252; captureRadius = 10; duration = 213; initialDepth = 688.356491; finalDepth = 687.438953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 57.532134 # Actual altitude: 57.532134 # Commanded vehicle depth: 687.438953 # Seafloor depth: -744.971087 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 230.13; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.52; MB_Bottom_Detect_Filter_Max_Range = 230.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.13; 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 26 # Segment length 149.920250 meters # Minimum depth: 738.356491 meters looking forward 100.000000 meters along route # Maximum depth: 744.351777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.356491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340738; longitude = -118.144299; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 683.690123; finalDepth = 688.356491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 57.532134 # Actual altitude: 57.532134 # Commanded vehicle depth: 688.356491 # Seafloor depth: -738.356491 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 230.13; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.52; MB_Bottom_Detect_Filter_Max_Range = 230.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 94.185360 meters # Minimum depth: 733.690123 meters looking forward 100.000000 meters along route # Maximum depth: 741.741394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.690123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339505; longitude = -118.143638; captureRadius = 10; duration = 188; # abortOnTimeout = True; initialDepth = 687.377843; finalDepth = 683.690123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.051271 # Actual altitude: 58.051271 # Commanded vehicle depth: 683.690123 # Seafloor depth: -741.741394 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 232.21; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.83; MB_Bottom_Detect_Filter_Max_Range = 232.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 102.399625 meters # Minimum depth: 737.377843 meters looking forward 100.000000 meters along route # Maximum depth: 745.302717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.377843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339854; longitude = -118.142715; captureRadius = 10; duration = 204; initialDepth = 691.596957; finalDepth = 687.377843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.051271 # Actual altitude: 58.051271 # Commanded vehicle depth: 687.377843 # Seafloor depth: -737.377843 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 232.21; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.83; MB_Bottom_Detect_Filter_Max_Range = 232.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 105.861087 meters # Minimum depth: 741.596957 meters looking forward 100.000000 meters along route # Maximum depth: 743.971056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.596957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340233; longitude = -118.141712; captureRadius = 10; duration = 211; initialDepth = 688.514317; finalDepth = 691.596957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.374099 # Actual altitude: 52.374099 # Commanded vehicle depth: 691.596957 # Seafloor depth: -743.971056 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.50; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.42; MB_Bottom_Detect_Filter_Max_Range = 209.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 109.610249 meters # Minimum depth: 738.514317 meters looking forward 100.000000 meters along route # Maximum depth: 741.124304 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.514317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340625; longitude = -118.140675; captureRadius = 10; duration = 219; initialDepth = 687.510268; finalDepth = 688.514317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.609987 # Actual altitude: 52.609987 # Commanded vehicle depth: 688.514317 # Seafloor depth: -741.124304 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.44; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.57; MB_Bottom_Detect_Filter_Max_Range = 210.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 103.660318 meters # Minimum depth: 737.510268 meters looking forward 100.000000 meters along route # Maximum depth: 740.885763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.510268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341030; longitude = -118.139601; captureRadius = 10; duration = 207; initialDepth = 685.297604; finalDepth = 687.510268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.609987 # Actual altitude: 52.609987 # Commanded vehicle depth: 687.510268 # Seafloor depth: -738.284346 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.44; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.57; MB_Bottom_Detect_Filter_Max_Range = 210.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.597913 meters # Minimum depth: 735.297604 meters looking forward 100.000000 meters along route # Maximum depth: 738.960219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.297604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341414; longitude = -118.138585; captureRadius = 10; duration = 209; initialDepth = 685.581858; finalDepth = 685.297604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.212932 # Actual altitude: 51.212932 # Commanded vehicle depth: 685.297604 # Seafloor depth: -736.510536 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.85; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.73; MB_Bottom_Detect_Filter_Max_Range = 204.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 109.608943 meters # Minimum depth: 735.581858 meters looking forward 100.000000 meters along route # Maximum depth: 740.567922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.581858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341801; longitude = -118.137560; captureRadius = 10; duration = 219; initialDepth = 689.064146; finalDepth = 685.581858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.212932 # Actual altitude: 51.212932 # Commanded vehicle depth: 685.581858 # Seafloor depth: -735.581858 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.85; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.73; MB_Bottom_Detect_Filter_Max_Range = 204.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.920981 meters # Minimum depth: 739.064146 meters looking forward 100.000000 meters along route # Maximum depth: 744.194839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.064146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342207; longitude = -118.136486; captureRadius = 10; duration = 209; initialDepth = 695.970569; finalDepth = 689.064146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.713843 # Actual altitude: 50.713843 # Commanded vehicle depth: 689.064146 # Seafloor depth: -739.777989 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.86; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.43; MB_Bottom_Detect_Filter_Max_Range = 202.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 103.334770 meters # Minimum depth: 745.970569 meters looking forward 100.000000 meters along route # Maximum depth: 787.781280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.970569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342595; longitude = -118.135458; captureRadius = 10; duration = 206; initialDepth = 739.178515; finalDepth = 695.970569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.713843 # Actual altitude: 50.713843 # Commanded vehicle depth: 695.970569 # Seafloor depth: -745.970569 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.86; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.43; MB_Bottom_Detect_Filter_Max_Range = 202.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 109.607638 meters # Minimum depth: 789.178515 meters looking forward 100.000000 meters along route # Maximum depth: 806.255714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.178515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342978; longitude = -118.134446; captureRadius = 10; duration = 219; initialDepth = 753.826644; finalDepth = 739.178515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 739.178515 # Seafloor depth: -789.178515 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.181613 meters # Minimum depth: 803.826644 meters looking forward 100.000000 meters along route # Maximum depth: 804.767652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.826644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343384; longitude = -118.133372; captureRadius = 10; duration = 212; initialDepth = 753.746860; finalDepth = 753.826644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.941008 # Actual altitude: 50.941008 # Commanded vehicle depth: 753.826644 # Seafloor depth: -804.767652 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.56; MB_Bottom_Detect_Filter_Max_Range = 203.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 102.071658 meters # Minimum depth: 803.746860 meters looking forward 100.000000 meters along route # Maximum depth: 805.006588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.746860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343777; longitude = -118.132331; captureRadius = 10; duration = 204; initialDepth = 753.457917; finalDepth = 753.746860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.941008 # Actual altitude: 50.941008 # Commanded vehicle depth: 753.74686 # Seafloor depth: -804.481026 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.56; MB_Bottom_Detect_Filter_Max_Range = 203.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 109.606332 meters # Minimum depth: 803.457917 meters looking forward 100.000000 meters along route # Maximum depth: 807.631925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.457917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344155; longitude = -118.131331; captureRadius = 10; duration = 219; initialDepth = 754.291779; finalDepth = 753.457917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7341660000001 # Actual altitude: 50.7341660000001 # Commanded vehicle depth: 753.457917 # Seafloor depth: -803.457917 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.94; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.44; MB_Bottom_Detect_Filter_Max_Range = 202.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 107.442216 meters # Minimum depth: 804.291779 meters looking forward 100.000000 meters along route # Maximum depth: 807.830321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.291779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344560; longitude = -118.130257; captureRadius = 10; duration = 214; initialDepth = 753.484338; finalDepth = 754.291779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.437183 # Actual altitude: 53.437183 # Commanded vehicle depth: 754.291779 # Seafloor depth: -807.728962 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.75; 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 = 213.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.808575 meters # Minimum depth: 803.484338 meters looking forward 100.000000 meters along route # Maximum depth: 806.744354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.484338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344958; longitude = -118.129204; captureRadius = 10; duration = 201; initialDepth = 754.515707; finalDepth = 753.484338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.437183 # Actual altitude: 53.437183 # Commanded vehicle depth: 753.484338 # Seafloor depth: -803.947072 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.75; 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 = 213.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 102.265934 meters # Minimum depth: 804.515707 meters looking forward 100.000000 meters along route # Maximum depth: 807.269811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.515707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345331; longitude = -118.128217; captureRadius = 10; duration = 204; initialDepth = 747.815517; finalDepth = 754.515707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.506341 # Actual altitude: 52.506341 # Commanded vehicle depth: 754.515707 # Seafloor depth: -807.022048 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.03; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.50; MB_Bottom_Detect_Filter_Max_Range = 210.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 105.983233 meters # Minimum depth: 797.815517 meters looking forward 100.000000 meters along route # Maximum depth: 804.183556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.815517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345710; longitude = -118.127215; captureRadius = 10; duration = 211; initialDepth = 747.130771; finalDepth = 747.815517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.368039 # Actual altitude: 56.368039 # Commanded vehicle depth: 747.815517 # Seafloor depth: -804.183556 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 225.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.82; MB_Bottom_Detect_Filter_Max_Range = 225.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 109.604172 meters # Minimum depth: 797.130771 meters looking forward 100.000000 meters along route # Maximum depth: 806.301614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.130771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346102; longitude = -118.126176; captureRadius = 10; duration = 219; initialDepth = 758.276931; finalDepth = 747.130771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.368039 # Actual altitude: 56.368039 # Commanded vehicle depth: 747.130771 # Seafloor depth: -797.318653 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 225.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.82; MB_Bottom_Detect_Filter_Max_Range = 225.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 103.526559 meters # Minimum depth: 808.276931 meters looking forward 100.000000 meters along route # Maximum depth: 810.742457 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.276931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346508; longitude = -118.125102; captureRadius = 10; duration = 207; initialDepth = 758.774465; finalDepth = 758.276931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1878820000001 # Actual altitude: 50.1878820000001 # Commanded vehicle depth: 758.276931 # Seafloor depth: -808.276931 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.75; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.11; MB_Bottom_Detect_Filter_Max_Range = 200.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.720128 meters # Minimum depth: 808.774465 meters looking forward 100.000000 meters along route # Maximum depth: 809.614348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.774465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346891; longitude = -118.124088; captureRadius = 10; duration = 209; initialDepth = 758.715183; finalDepth = 758.774465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.839883 # Actual altitude: 50.839883 # Commanded vehicle depth: 758.774465 # Seafloor depth: -809.614348 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.36; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.50; MB_Bottom_Detect_Filter_Max_Range = 203.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.36; 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: 808.715183 meters looking forward 100.000000 meters along route # Maximum depth: 808.803344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.715183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347279; longitude = -118.123062; captureRadius = 10; duration = 219; initialDepth = 758.830564; finalDepth = 758.715183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.839883 # Actual altitude: 50.839883 # Commanded vehicle depth: 758.715183 # Seafloor depth: -808.750622 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.36; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.50; MB_Bottom_Detect_Filter_Max_Range = 203.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.36; 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: 808.830564 meters looking forward 100.000000 meters along route # Maximum depth: 809.100320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.830564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347685; longitude = -118.121988; captureRadius = 10; duration = 219; initialDepth = 759.112277; finalDepth = 758.830564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.035439 # Actual altitude: 50.035439 # Commanded vehicle depth: 758.830564 # Seafloor depth: -808.830564 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.14; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.02; MB_Bottom_Detect_Filter_Max_Range = 200.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 109.278457 meters # Minimum depth: 809.112277 meters looking forward 100.000000 meters along route # Maximum depth: 809.280850 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.112277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348090; longitude = -118.120914; captureRadius = 10; duration = 218; initialDepth = 759.076230; finalDepth = 759.112277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 759.112277 # Seafloor depth: -809.112277 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 24 # Segment length 150.018404 meters # Minimum depth: 809.076230 meters looking forward 100.000000 meters along route # Maximum depth: 809.280273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.076230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348495; longitude = -118.119843; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 758.859228; finalDepth = 759.076230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50.204043 # Actual altitude: 50.204043 # Commanded vehicle depth: 759.07623 # Seafloor depth: -809.280273 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 200.82; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.12; MB_Bottom_Detect_Filter_Max_Range = 200.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 110.977057 meters # Minimum depth: 808.859228 meters looking forward 100.000000 meters along route # Maximum depth: 809.071777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.859228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347261; longitude = -118.119182; captureRadius = 10; duration = 221; # abortOnTimeout = True; initialDepth = 758.203162; finalDepth = 758.859228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.212549 # Actual altitude: 50.212549 # Commanded vehicle depth: 758.859228 # Seafloor depth: -809.071777 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.85; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.13; MB_Bottom_Detect_Filter_Max_Range = 200.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 104.931031 meters # Minimum depth: 808.203162 meters looking forward 100.000000 meters along route # Maximum depth: 808.809264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.203162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346850; longitude = -118.120269; captureRadius = 10; duration = 209; initialDepth = 757.253980; finalDepth = 758.203162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.606102 # Actual altitude: 50.606102 # Commanded vehicle depth: 758.203162 # Seafloor depth: -808.809264 # behavior reson { duration = 6; 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 = 30.36; 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 23 # Segment length 103.317839 meters # Minimum depth: 807.253980 meters looking forward 100.000000 meters along route # Maximum depth: 808.151649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.253980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346462; longitude = -118.121298; captureRadius = 10; duration = 206; initialDepth = 755.864829; finalDepth = 757.253980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8976690000001 # Actual altitude: 50.8976690000001 # Commanded vehicle depth: 757.25398 # Seafloor depth: -808.151649 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.59; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.54; MB_Bottom_Detect_Filter_Max_Range = 203.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 109.605320 meters # Minimum depth: 805.864829 meters looking forward 100.000000 meters along route # Maximum depth: 807.128576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.864829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346079; longitude = -118.122310; captureRadius = 10; duration = 219; initialDepth = 754.409489; finalDepth = 755.864829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.263747 # Actual altitude: 51.263747 # Commanded vehicle depth: 755.864829 # Seafloor depth: -807.128576 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.76; MB_Bottom_Detect_Filter_Max_Range = 205.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 106.180739 meters # Minimum depth: 804.409489 meters looking forward 100.000000 meters along route # Maximum depth: 805.728934 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.409489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345673; longitude = -118.123384; captureRadius = 10; duration = 212; initialDepth = 753.860852; finalDepth = 754.409489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.319445 # Actual altitude: 51.319445 # Commanded vehicle depth: 754.409489 # Seafloor depth: -805.728934 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.28; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.79; MB_Bottom_Detect_Filter_Max_Range = 205.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 102.070610 meters # Minimum depth: 803.860852 meters looking forward 100.000000 meters along route # Maximum depth: 804.279983 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.860852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345280; longitude = -118.124424; captureRadius = 10; duration = 204; initialDepth = 753.744160; finalDepth = 753.860852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.319445 # Actual altitude: 51.319445 # Commanded vehicle depth: 753.860852 # Seafloor depth: -804.279983 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.28; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.79; MB_Bottom_Detect_Filter_Max_Range = 205.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 109.606625 meters # Minimum depth: 803.744160 meters looking forward 100.000000 meters along route # Maximum depth: 805.010763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.744160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344902; longitude = -118.125424; captureRadius = 10; duration = 219; initialDepth = 754.882312; finalDepth = 753.744160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.419131 # Actual altitude: 50.419131 # Commanded vehicle depth: 753.74416 # Seafloor depth: -803.785939 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.68; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.25; MB_Bottom_Detect_Filter_Max_Range = 201.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 107.430478 meters # Minimum depth: 804.882312 meters looking forward 100.000000 meters along route # Maximum depth: 806.379439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.882312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344497; longitude = -118.126498; captureRadius = 10; duration = 214; initialDepth = 754.448863; finalDepth = 754.882312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.287151 # Actual altitude: 50.287151 # Commanded vehicle depth: 754.882312 # Seafloor depth: -805.169463 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.15; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.17; 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 23 # Segment length 100.823349 meters # Minimum depth: 804.448863 meters looking forward 100.000000 meters along route # Maximum depth: 806.502888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.448863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344099; longitude = -118.127551; captureRadius = 10; duration = 201; initialDepth = 754.795389; finalDepth = 754.448863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0368910000001 # Actual altitude: 52.0368910000001 # Commanded vehicle depth: 754.448863 # Seafloor depth: -806.485754 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.15; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.22; MB_Bottom_Detect_Filter_Max_Range = 208.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 102.247181 meters # Minimum depth: 804.795389 meters looking forward 100.000000 meters along route # Maximum depth: 805.601508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.795389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343726; longitude = -118.128539; captureRadius = 10; duration = 204; initialDepth = 755.470183; finalDepth = 754.795389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0368910000001 # Actual altitude: 52.0368910000001 # Commanded vehicle depth: 754.795389 # Seafloor depth: -804.795389 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.15; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.22; MB_Bottom_Detect_Filter_Max_Range = 208.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 106.008271 meters # Minimum depth: 805.470183 meters looking forward 100.000000 meters along route # Maximum depth: 806.400660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.470183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343347; longitude = -118.129541; captureRadius = 10; duration = 212; initialDepth = 752.125046; finalDepth = 755.470183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 755.470183 # Seafloor depth: -805.470183 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.608786 meters # Minimum depth: 802.125046 meters looking forward 100.000000 meters along route # Maximum depth: 805.920840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.125046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342955; longitude = -118.130579; captureRadius = 10; duration = 219; initialDepth = 718.941841; finalDepth = 752.125046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.795794 # Actual altitude: 53.795794 # Commanded vehicle depth: 752.125046 # Seafloor depth: -805.920840 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 215.18; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.28; MB_Bottom_Detect_Filter_Max_Range = 215.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 103.496896 meters # Minimum depth: 768.941841 meters looking forward 100.000000 meters along route # Maximum depth: 800.353279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.941841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342549; longitude = -118.131653; captureRadius = 10; duration = 206; initialDepth = 695.640244; finalDepth = 718.941841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.4114380000001 # Actual altitude: 81.4114380000001 # Commanded vehicle depth: 718.941841 # Seafloor depth: -800.353279 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 325.65; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 48.85; MB_Bottom_Detect_Filter_Max_Range = 325.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.761035 meters # Minimum depth: 745.640244 meters looking forward 100.000000 meters along route # Maximum depth: 767.565577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.640244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342166; longitude = -118.132667; captureRadius = 10; duration = 209; initialDepth = 690.624558; finalDepth = 695.640244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.4114380000001 # Actual altitude: 81.4114380000001 # Commanded vehicle depth: 695.640244 # Seafloor depth: -767.565577 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 325.65; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 48.85; MB_Bottom_Detect_Filter_Max_Range = 325.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 109.610091 meters # Minimum depth: 740.624558 meters looking forward 100.000000 meters along route # Maximum depth: 744.206576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.624558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341778; longitude = -118.133694; captureRadius = 10; duration = 219; initialDepth = 689.927401; finalDepth = 690.624558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.9253329999999 # Actual altitude: 71.9253329999999 # Commanded vehicle depth: 690.624558 # Seafloor depth: -744.206576 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 287.70; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.16; MB_Bottom_Detect_Filter_Max_Range = 287.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.746643 meters # Minimum depth: 739.927401 meters looking forward 100.000000 meters along route # Maximum depth: 740.359524 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.927401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341372; longitude = -118.134768; captureRadius = 10; duration = 209; initialDepth = 686.722884; finalDepth = 689.927401; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5820180000001 # Actual altitude: 53.5820180000001 # Commanded vehicle depth: 689.927401 # Seafloor depth: -739.996429 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.33; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.15; MB_Bottom_Detect_Filter_Max_Range = 214.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 103.513769 meters # Minimum depth: 736.722884 meters looking forward 100.000000 meters along route # Maximum depth: 741.136724 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.722884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340984; longitude = -118.135794; captureRadius = 10; duration = 207; initialDepth = 686.646588; finalDepth = 686.722884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.20606 # Actual altitude: 53.20606 # Commanded vehicle depth: 686.722884 # Seafloor depth: -739.928944 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.82; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.92; MB_Bottom_Detect_Filter_Max_Range = 212.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 109.611396 meters # Minimum depth: 736.646588 meters looking forward 100.000000 meters along route # Maximum depth: 741.257010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.646588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340601; longitude = -118.136808; captureRadius = 10; duration = 219; initialDepth = 689.648552; finalDepth = 686.646588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.20606 # Actual altitude: 53.20606 # Commanded vehicle depth: 686.646588 # Seafloor depth: -738.194783 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.82; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.92; MB_Bottom_Detect_Filter_Max_Range = 212.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 105.996420 meters # Minimum depth: 739.648552 meters looking forward 100.000000 meters along route # Maximum depth: 742.543876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.648552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340196; longitude = -118.137882; captureRadius = 10; duration = 211; initialDepth = 690.282768; finalDepth = 689.648552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.662502 # Actual altitude: 52.662502 # Commanded vehicle depth: 689.648552 # Seafloor depth: -742.311054 # behavior reson { duration = 6; 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 = 31.60; 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 23 # Segment length 102.266473 meters # Minimum depth: 740.282768 meters looking forward 100.000000 meters along route # Maximum depth: 742.424377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.282768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339803; longitude = -118.138921; captureRadius = 10; duration = 204; initialDepth = 691.989432; finalDepth = 690.282768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.662502 # Actual altitude: 52.662502 # Commanded vehicle depth: 690.282768 # Seafloor depth: -740.282768 # behavior reson { duration = 6; 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 = 31.60; 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 23 # Segment length 100.812885 meters # Minimum depth: 741.989432 meters looking forward 100.000000 meters along route # Maximum depth: 744.186465 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.989432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339425; longitude = -118.139923; captureRadius = 10; duration = 201; initialDepth = 690.182735; finalDepth = 691.989432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 691.989432 # Seafloor depth: -741.989432 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 107.451633 meters # Minimum depth: 740.182735 meters looking forward 100.000000 meters along route # Maximum depth: 743.001816 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.182735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339051; longitude = -118.140911; captureRadius = 10; duration = 214; initialDepth = 689.147668; finalDepth = 690.182735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.819081 # Actual altitude: 52.819081 # Commanded vehicle depth: 690.182735 # Seafloor depth: -743.001816 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.28; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.69; MB_Bottom_Detect_Filter_Max_Range = 211.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 103.349676 meters # Minimum depth: 739.147668 meters looking forward 100.000000 meters along route # Maximum depth: 743.540858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.147668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338654; longitude = -118.141963; captureRadius = 10; duration = 206; initialDepth = 691.264572; finalDepth = 689.147668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.2574390000001 # Actual altitude: 53.2574390000001 # Commanded vehicle depth: 689.147668 # Seafloor depth: -742.405107 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 213.03; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.95; MB_Bottom_Detect_Filter_Max_Range = 213.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.03; 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 22 # Segment length 149.959081 meters # Minimum depth: 741.264572 meters looking forward 100.000000 meters along route # Maximum depth: 747.279176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.264572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338271; longitude = -118.142976; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 690.793495; finalDepth = 691.264572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 53.2574390000001 # Actual altitude: 53.2574390000001 # Commanded vehicle depth: 691.264572 # Seafloor depth: -741.264572 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 213.03; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.95; MB_Bottom_Detect_Filter_Max_Range = 213.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 108.707363 meters # Minimum depth: 740.793495 meters looking forward 100.000000 meters along route # Maximum depth: 745.015651 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.793495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337038; longitude = -118.142314; captureRadius = 10; duration = 217; # abortOnTimeout = True; initialDepth = 687.583552; finalDepth = 690.793495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1186299999999 # Actual altitude: 53.1186299999999 # Commanded vehicle depth: 690.793495 # Seafloor depth: -743.912125 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.87; MB_Bottom_Detect_Filter_Max_Range = 212.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 102.459090 meters # Minimum depth: 737.583552 meters looking forward 100.000000 meters along route # Maximum depth: 740.833012 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.583552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337440; longitude = -118.141249; captureRadius = 10; duration = 204; initialDepth = 687.649480; finalDepth = 687.583552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1186299999999 # Actual altitude: 53.1186299999999 # Commanded vehicle depth: 687.583552 # Seafloor depth: -740.501073 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.87; MB_Bottom_Detect_Filter_Max_Range = 212.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 109.613927 meters # Minimum depth: 737.649480 meters looking forward 100.000000 meters along route # Maximum depth: 743.290197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.649480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337820; longitude = -118.140245; captureRadius = 10; duration = 219; initialDepth = 691.236292; finalDepth = 687.649480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.917521 # Actual altitude: 52.917521 # Commanded vehicle depth: 687.64948 # Seafloor depth: -739.392962 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.67; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.75; MB_Bottom_Detect_Filter_Max_Range = 211.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.055896 meters # Minimum depth: 741.236292 meters looking forward 100.000000 meters along route # Maximum depth: 743.958714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.236292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338225; longitude = -118.139171; captureRadius = 10; duration = 214; initialDepth = 690.542679; finalDepth = 691.236292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7003639999999 # Actual altitude: 52.7003639999999 # Commanded vehicle depth: 691.236292 # Seafloor depth: -743.936656 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.80; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.62; MB_Bottom_Detect_Filter_Max_Range = 210.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 101.209326 meters # Minimum depth: 740.542679 meters looking forward 100.000000 meters along route # Maximum depth: 742.792008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.542679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338622; longitude = -118.138122; captureRadius = 10; duration = 202; initialDepth = 688.509046; finalDepth = 690.542679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7003639999999 # Actual altitude: 52.7003639999999 # Commanded vehicle depth: 690.542679 # Seafloor depth: -740.852316 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.80; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.62; MB_Bottom_Detect_Filter_Max_Range = 210.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 101.870722 meters # Minimum depth: 738.509046 meters looking forward 100.000000 meters along route # Maximum depth: 747.121015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.509046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338996; longitude = -118.137131; captureRadius = 10; duration = 203; initialDepth = 683.888586; finalDepth = 688.509046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.625287 # Actual altitude: 52.625287 # Commanded vehicle depth: 688.509046 # Seafloor depth: -741.134333 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.50; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.58; 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 106.392874 meters # Minimum depth: 733.888586 meters looking forward 100.000000 meters along route # Maximum depth: 740.758084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.888586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339374; longitude = -118.136132; captureRadius = 10; duration = 212; initialDepth = 688.167239; finalDepth = 683.888586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3760249999999 # Actual altitude: 55.3760249999999 # Commanded vehicle depth: 683.888586 # Seafloor depth: -739.264611 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.50; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.23; MB_Bottom_Detect_Filter_Max_Range = 221.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 109.611767 meters # Minimum depth: 738.167239 meters looking forward 100.000000 meters along route # Maximum depth: 741.794142 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.167239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339767; longitude = -118.135090; captureRadius = 10; duration = 219; initialDepth = 688.554211; finalDepth = 688.167239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3760249999999 # Actual altitude: 55.3760249999999 # Commanded vehicle depth: 688.167239 # Seafloor depth: -741.794142 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.50; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.23; MB_Bottom_Detect_Filter_Max_Range = 221.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 103.118027 meters # Minimum depth: 738.554211 meters looking forward 100.000000 meters along route # Maximum depth: 741.042403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.554211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340173; longitude = -118.134016; captureRadius = 10; duration = 206; initialDepth = 691.259398; finalDepth = 688.554211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.626903 # Actual altitude: 53.626903 # Commanded vehicle depth: 688.554211 # Seafloor depth: -738.556337 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.51; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.18; MB_Bottom_Detect_Filter_Max_Range = 214.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 105.143089 meters # Minimum depth: 741.259398 meters looking forward 100.000000 meters along route # Maximum depth: 750.125730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.259398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340555; longitude = -118.133006; captureRadius = 10; duration = 210; initialDepth = 701.800229; finalDepth = 691.259398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.002126 # Actual altitude: 50.002126 # Commanded vehicle depth: 691.259398 # Seafloor depth: -741.259398 # behavior reson { duration = 6; 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 = 30.00; 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 21 # Segment length 109.610461 meters # Minimum depth: 751.800229 meters looking forward 100.000000 meters along route # Maximum depth: 766.893437 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.800229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340944; longitude = -118.131976; captureRadius = 10; duration = 219; initialDepth = 718.130746; finalDepth = 701.800229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 701.800229 # Seafloor depth: -751.800229 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.365303 meters # Minimum depth: 768.130746 meters looking forward 100.000000 meters along route # Maximum depth: 781.563588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.130746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341350; longitude = -118.130902; captureRadius = 10; duration = 208; initialDepth = 732.688363; finalDepth = 718.130746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 718.130746 # Seafloor depth: -768.130746 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.893334 meters # Minimum depth: 782.688363 meters looking forward 100.000000 meters along route # Maximum depth: 808.209268 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.688363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341736; longitude = -118.129879; captureRadius = 10; duration = 207; initialDepth = 757.859006; finalDepth = 732.688363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 732.688363 # Seafloor depth: -782.688363 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.609156 meters # Minimum depth: 807.859006 meters looking forward 100.000000 meters along route # Maximum depth: 810.324736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.859006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342121; longitude = -118.128861; captureRadius = 10; duration = 219; initialDepth = 755.961690; finalDepth = 757.859006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.713969 # Actual altitude: 50.713969 # Commanded vehicle depth: 757.859006 # Seafloor depth: -808.572975 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.86; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.43; MB_Bottom_Detect_Filter_Max_Range = 202.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 105.612548 meters # Minimum depth: 805.961690 meters looking forward 100.000000 meters along route # Maximum depth: 807.879325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.961690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342527; longitude = -118.127787; captureRadius = 10; duration = 211; initialDepth = 756.062319; finalDepth = 755.961690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.916165 # Actual altitude: 51.916165 # Commanded vehicle depth: 755.96169 # Seafloor depth: -807.877855 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.66; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.15; MB_Bottom_Detect_Filter_Max_Range = 207.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 102.643609 meters # Minimum depth: 806.062319 meters looking forward 100.000000 meters along route # Maximum depth: 808.900823 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.062319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342918; longitude = -118.126752; captureRadius = 10; duration = 205; initialDepth = 750.049275; finalDepth = 756.062319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.916165 # Actual altitude: 51.916165 # Commanded vehicle depth: 756.062319 # Seafloor depth: -806.062319 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.66; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.15; MB_Bottom_Detect_Filter_Max_Range = 207.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 109.607852 meters # Minimum depth: 800.049275 meters looking forward 100.000000 meters along route # Maximum depth: 807.375394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.049275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343298; longitude = -118.125747; captureRadius = 10; duration = 219; initialDepth = 749.492474; finalDepth = 750.049275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3261190000001 # Actual altitude: 57.3261190000001 # Commanded vehicle depth: 750.049275 # Seafloor depth: -807.375394 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 229.30; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.40; MB_Bottom_Detect_Filter_Max_Range = 229.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 106.859764 meters # Minimum depth: 799.492474 meters looking forward 100.000000 meters along route # Maximum depth: 800.206041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 749.492474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343703; longitude = -118.124673; captureRadius = 10; duration = 213; initialDepth = 749.551630; finalDepth = 749.492474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3261190000001 # Actual altitude: 57.3261190000001 # Commanded vehicle depth: 749.492474 # Seafloor depth: -799.944834 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 229.30; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.40; MB_Bottom_Detect_Filter_Max_Range = 229.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 101.393914 meters # Minimum depth: 799.551630 meters looking forward 100.000000 meters along route # Maximum depth: 802.826097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 749.551630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344099; longitude = -118.123626; captureRadius = 10; duration = 202; initialDepth = 753.424056; finalDepth = 749.551630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.45236 # Actual altitude: 50.45236 # Commanded vehicle depth: 749.55163 # Seafloor depth: -799.551630 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.81; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.27; MB_Bottom_Detect_Filter_Max_Range = 201.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 109.606546 meters # Minimum depth: 803.424056 meters looking forward 100.000000 meters along route # Maximum depth: 806.413016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.424056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344474; longitude = -118.122632; captureRadius = 10; duration = 219; initialDepth = 756.582090; finalDepth = 753.424056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 753.424056 # Seafloor depth: -803.424056 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 108.106951 meters # Minimum depth: 806.582090 meters looking forward 100.000000 meters along route # Maximum depth: 808.178029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.582090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344880; longitude = -118.121558; captureRadius = 10; duration = 216; initialDepth = 758.282449; finalDepth = 756.582090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 756.58209 # Seafloor depth: -806.582090 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.144249 meters # Minimum depth: 808.282449 meters looking forward 100.000000 meters along route # Maximum depth: 809.002455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.282449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345280; longitude = -118.120499; captureRadius = 10; duration = 200; initialDepth = 759.044465; finalDepth = 758.282449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 758.282449 # Seafloor depth: -808.282449 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.816431 meters # Minimum depth: 809.044465 meters looking forward 100.000000 meters along route # Maximum depth: 809.231458 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.044465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345651; longitude = -118.119518; captureRadius = 10; duration = 203; initialDepth = 759.246582; finalDepth = 759.044465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 759.044465 # Seafloor depth: -809.044465 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 20 # Segment length 150.019019 meters # Minimum depth: 809.246582 meters looking forward 100.000000 meters along route # Maximum depth: 809.821386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.246582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346028; longitude = -118.118520; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 759.858398; finalDepth = 759.246582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 759.246582 # Seafloor depth: -809.246582 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 19 # Segment length 100.709728 meters # Minimum depth: 809.858398 meters looking forward 100.000000 meters along route # Maximum depth: 810.022160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.858398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344794; longitude = -118.117859; captureRadius = 10; duration = 201; # abortOnTimeout = True; initialDepth = 759.654942; finalDepth = 759.858398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 759.858398 # Seafloor depth: -809.858398 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.452161 meters # Minimum depth: 809.654942 meters looking forward 100.000000 meters along route # Maximum depth: 810.007591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.654942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344421; longitude = -118.118846; captureRadius = 10; duration = 202; initialDepth = 758.030073; finalDepth = 759.654942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.352649 # Actual altitude: 50.352649 # Commanded vehicle depth: 759.654942 # Seafloor depth: -810.007591 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.41; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.21; MB_Bottom_Detect_Filter_Max_Range = 201.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 109.608145 meters # Minimum depth: 808.030073 meters looking forward 100.000000 meters along route # Maximum depth: 809.567070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.030073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344046; longitude = -118.119840; captureRadius = 10; duration = 219; initialDepth = 752.832468; finalDepth = 758.030073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5369969999999 # Actual altitude: 51.5369969999999 # Commanded vehicle depth: 758.030073 # Seafloor depth: -809.567070 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.15; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.92; MB_Bottom_Detect_Filter_Max_Range = 206.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 108.038426 meters # Minimum depth: 802.832468 meters looking forward 100.000000 meters along route # Maximum depth: 807.824000 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.832468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343640; longitude = -118.120914; captureRadius = 10; duration = 216; initialDepth = 749.551594; finalDepth = 752.832468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.991532 # Actual altitude: 54.991532 # Commanded vehicle depth: 752.832468 # Seafloor depth: -807.824000 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 219.97; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.99; MB_Bottom_Detect_Filter_Max_Range = 219.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.218289 meters # Minimum depth: 799.551594 meters looking forward 100.000000 meters along route # Maximum depth: 802.228441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 749.551594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343240; longitude = -118.121972; captureRadius = 10; duration = 200; initialDepth = 752.330773; finalDepth = 749.551594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.991532 # Actual altitude: 54.991532 # Commanded vehicle depth: 749.551594 # Seafloor depth: -802.228441 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 219.97; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.99; MB_Bottom_Detect_Filter_Max_Range = 219.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 102.846526 meters # Minimum depth: 802.330773 meters looking forward 100.000000 meters along route # Maximum depth: 807.945204 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.330773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342869; longitude = -118.122954; captureRadius = 10; duration = 205; initialDepth = 757.356394; finalDepth = 752.330773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.676847 # Actual altitude: 52.676847 # Commanded vehicle depth: 752.330773 # Seafloor depth: -802.330773 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.71; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.61; MB_Bottom_Detect_Filter_Max_Range = 210.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 105.411813 meters # Minimum depth: 807.356394 meters looking forward 100.000000 meters along route # Maximum depth: 809.701777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.356394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342488; longitude = -118.123962; captureRadius = 10; duration = 210; initialDepth = 756.758407; finalDepth = 757.356394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.834837 # Actual altitude: 50.834837 # Commanded vehicle depth: 757.356394 # Seafloor depth: -808.191231 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.34; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.50; MB_Bottom_Detect_Filter_Max_Range = 203.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 109.610304 meters # Minimum depth: 806.758407 meters looking forward 100.000000 meters along route # Maximum depth: 807.504765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.758407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342098; longitude = -118.124995; captureRadius = 10; duration = 219; initialDepth = 748.891664; finalDepth = 756.758407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.834837 # Actual altitude: 50.834837 # Commanded vehicle depth: 756.758407 # Seafloor depth: -807.130014 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.34; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.50; MB_Bottom_Detect_Filter_Max_Range = 203.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.082855 meters # Minimum depth: 798.891664 meters looking forward 100.000000 meters along route # Maximum depth: 807.638431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 748.891664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341692; longitude = -118.126069; captureRadius = 10; duration = 208; initialDepth = 723.141724; finalDepth = 748.891664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.624265 # Actual altitude: 58.624265 # Commanded vehicle depth: 748.891664 # Seafloor depth: -807.515929 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 234.50; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.17; MB_Bottom_Detect_Filter_Max_Range = 234.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.177963 meters # Minimum depth: 773.141724 meters looking forward 100.000000 meters along route # Maximum depth: 798.044177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.141724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341307; longitude = -118.127089; captureRadius = 10; duration = 208; initialDepth = 716.427828; finalDepth = 723.141724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.902453 # Actual altitude: 74.902453 # Commanded vehicle depth: 723.141724 # Seafloor depth: -798.044177 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 299.61; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.94; MB_Bottom_Detect_Filter_Max_Range = 299.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 299.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 109.611609 meters # Minimum depth: 766.427828 meters looking forward 100.000000 meters along route # Maximum depth: 772.257951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.427828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340921; longitude = -118.128109; captureRadius = 10; duration = 219; initialDepth = 712.364354; finalDepth = 716.427828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.902453 # Actual altitude: 74.902453 # Commanded vehicle depth: 716.427828 # Seafloor depth: -772.257951 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 299.61; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.94; MB_Bottom_Detect_Filter_Max_Range = 299.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 299.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 105.319214 meters # Minimum depth: 762.364354 meters looking forward 100.000000 meters along route # Maximum depth: 766.244727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.364354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340515; longitude = -118.129183; captureRadius = 10; duration = 210; initialDepth = 701.899760; finalDepth = 712.364354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8301230000001 # Actual altitude: 55.8301230000001 # Commanded vehicle depth: 712.364354 # Seafloor depth: -766.230732 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 223.32; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.50; MB_Bottom_Detect_Filter_Max_Range = 223.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 102.944084 meters # Minimum depth: 751.899760 meters looking forward 100.000000 meters along route # Maximum depth: 761.882468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.899760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340125; longitude = -118.130215; captureRadius = 10; duration = 205; initialDepth = 692.569928; finalDepth = 701.899760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.982708 # Actual altitude: 59.982708 # Commanded vehicle depth: 701.89976 # Seafloor depth: -761.882468 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 239.93; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.99; MB_Bottom_Detect_Filter_Max_Range = 239.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 109.612914 meters # Minimum depth: 742.569928 meters looking forward 100.000000 meters along route # Maximum depth: 750.650458 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.569928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339744; longitude = -118.131224; captureRadius = 10; duration = 219; initialDepth = 689.395791; finalDepth = 692.569928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.982708 # Actual altitude: 59.982708 # Commanded vehicle depth: 692.569928 # Seafloor depth: -750.650458 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 239.93; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.99; MB_Bottom_Detect_Filter_Max_Range = 239.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 106.555601 meters # Minimum depth: 739.395791 meters looking forward 100.000000 meters along route # Maximum depth: 741.556894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.395791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339338; longitude = -118.132298; captureRadius = 10; duration = 213; initialDepth = 689.951199; finalDepth = 689.395791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.08053 # Actual altitude: 58.08053 # Commanded vehicle depth: 689.395791 # Seafloor depth: -741.556894 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 232.32; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.85; MB_Bottom_Detect_Filter_Max_Range = 232.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 101.710176 meters # Minimum depth: 739.951199 meters looking forward 100.000000 meters along route # Maximum depth: 741.872885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.951199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338944; longitude = -118.133342; captureRadius = 10; duration = 203; initialDepth = 688.768943; finalDepth = 689.951199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.161103 # Actual altitude: 52.161103 # Commanded vehicle depth: 689.951199 # Seafloor depth: -740.143540 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.64; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.30; MB_Bottom_Detect_Filter_Max_Range = 208.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 109.614220 meters # Minimum depth: 738.768943 meters looking forward 100.000000 meters along route # Maximum depth: 742.141229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.768943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338567; longitude = -118.134338; captureRadius = 10; duration = 219; initialDepth = 690.222201; finalDepth = 688.768943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.445121 # Actual altitude: 50.445121 # Commanded vehicle depth: 688.768943 # Seafloor depth: -739.214064 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.78; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.27; MB_Bottom_Detect_Filter_Max_Range = 201.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.792019 meters # Minimum depth: 740.222201 meters looking forward 100.000000 meters along route # Maximum depth: 745.342816 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.222201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338162; longitude = -118.135412; captureRadius = 10; duration = 215; initialDepth = 691.760898; finalDepth = 690.222201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.445121 # Actual altitude: 50.445121 # Commanded vehicle depth: 690.222201 # Seafloor depth: -740.222201 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.78; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.27; MB_Bottom_Detect_Filter_Max_Range = 201.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.476238 meters # Minimum depth: 741.760898 meters looking forward 100.000000 meters along route # Maximum depth: 745.286423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.760898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337763; longitude = -118.136468; captureRadius = 10; duration = 200; initialDepth = 690.392438; finalDepth = 691.760898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.368782 # Actual altitude: 50.368782 # Commanded vehicle depth: 691.760898 # Seafloor depth: -742.129680 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.48; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.22; MB_Bottom_Detect_Filter_Max_Range = 201.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 102.599830 meters # Minimum depth: 740.392438 meters looking forward 100.000000 meters along route # Maximum depth: 746.383005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.392438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337391; longitude = -118.137453; captureRadius = 10; duration = 205; initialDepth = 686.327546; finalDepth = 690.392438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4028870000001 # Actual altitude: 55.4028870000001 # Commanded vehicle depth: 690.392438 # Seafloor depth: -745.795325 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.61; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.24; MB_Bottom_Detect_Filter_Max_Range = 221.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 105.670053 meters # Minimum depth: 736.327546 meters looking forward 100.000000 meters along route # Maximum depth: 740.057800 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.327546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337011; longitude = -118.138458; captureRadius = 10; duration = 211; initialDepth = 687.949943; finalDepth = 686.327546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4028870000001 # Actual altitude: 55.4028870000001 # Commanded vehicle depth: 686.327546 # Seafloor depth: -740.057800 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.61; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.24; MB_Bottom_Detect_Filter_Max_Range = 221.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 109.616380 meters # Minimum depth: 737.949943 meters looking forward 100.000000 meters along route # Maximum depth: 742.544753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.949943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336620; longitude = -118.139493; captureRadius = 10; duration = 219; initialDepth = 687.541605; finalDepth = 687.949943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7302540000001 # Actual altitude: 53.7302540000001 # Commanded vehicle depth: 687.949943 # Seafloor depth: -739.776119 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.92; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.24; MB_Bottom_Detect_Filter_Max_Range = 214.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 110.716803 meters # Minimum depth: 737.541605 meters looking forward 100.000000 meters along route # Maximum depth: 743.752758 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.541605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336214; longitude = -118.140567; captureRadius = 10; duration = 221; initialDepth = 687.036060; finalDepth = 687.541605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.826176 # Actual altitude: 51.826176 # Commanded vehicle depth: 687.541605 # Seafloor depth: -737.541605 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; 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 = 31.10; 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; } # ####################################################### # # 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: 737.036060 meters looking forward 100.000000 meters along route # Maximum depth: 746.115161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.036060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335804; longitude = -118.141652; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 694.415043; finalDepth = 687.036060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 56.169171 # Actual altitude: 56.169171 # Commanded vehicle depth: 687.03606 # Seafloor depth: -743.205231 # behavior reson { duration = 6; 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 = 33.70; 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 17 # Segment length 98.058818 meters # Minimum depth: 744.415043 meters looking forward 100.000000 meters along route # Maximum depth: 745.781815 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.415043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334571; longitude = -118.140991; captureRadius = 10; duration = 196; # abortOnTimeout = True; initialDepth = 693.276237; finalDepth = 694.415043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.169171 # Actual altitude: 56.169171 # Commanded vehicle depth: 694.415043 # Seafloor depth: -744.700027 # behavior reson { duration = 6; 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 = 33.70; 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 17 # Segment length 109.616920 meters # Minimum depth: 743.276237 meters looking forward 100.000000 meters along route # Maximum depth: 748.116169 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.276237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334934; longitude = -118.140030; captureRadius = 10; duration = 219; initialDepth = 692.957413; finalDepth = 693.276237; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.840255 # Actual altitude: 52.840255 # Commanded vehicle depth: 693.276237 # Seafloor depth: -746.116492 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.36; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.70; MB_Bottom_Detect_Filter_Max_Range = 211.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 103.281528 meters # Minimum depth: 742.957413 meters looking forward 100.000000 meters along route # Maximum depth: 747.839017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.957413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335340; longitude = -118.138956; captureRadius = 10; duration = 206; initialDepth = 691.129789; finalDepth = 692.957413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6949080000001 # Actual altitude: 53.6949080000001 # Commanded vehicle depth: 692.957413 # Seafloor depth: -746.652321 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.78; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.22; MB_Bottom_Detect_Filter_Max_Range = 214.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.989379 meters # Minimum depth: 741.129789 meters looking forward 100.000000 meters along route # Maximum depth: 744.642002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.129789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335722; longitude = -118.137944; captureRadius = 10; duration = 209; initialDepth = 693.494966; finalDepth = 691.129789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6949080000001 # Actual altitude: 53.6949080000001 # Commanded vehicle depth: 691.129789 # Seafloor depth: -744.607414 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.78; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.22; MB_Bottom_Detect_Filter_Max_Range = 214.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 109.615614 meters # Minimum depth: 743.494966 meters looking forward 100.000000 meters along route # Maximum depth: 745.662331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.494966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336111; longitude = -118.136916; captureRadius = 10; duration = 219; initialDepth = 691.639840; finalDepth = 693.494966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.477625 # Actual altitude: 53.477625 # Commanded vehicle depth: 693.494966 # Seafloor depth: -745.654904 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.91; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.09; MB_Bottom_Detect_Filter_Max_Range = 213.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.528860 meters # Minimum depth: 741.639840 meters looking forward 100.000000 meters along route # Maximum depth: 743.720776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.639840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336516; longitude = -118.135842; captureRadius = 10; duration = 209; initialDepth = 691.940916; finalDepth = 691.639840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.159938 # Actual altitude: 52.159938 # Commanded vehicle depth: 691.63984 # Seafloor depth: -743.150305 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.64; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.30; MB_Bottom_Detect_Filter_Max_Range = 208.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 103.739567 meters # Minimum depth: 741.940916 meters looking forward 100.000000 meters along route # Maximum depth: 744.009570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.940916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336903; longitude = -118.134818; captureRadius = 10; duration = 207; initialDepth = 687.701119; finalDepth = 691.940916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.886889 # Actual altitude: 51.886889 # Commanded vehicle depth: 691.940916 # Seafloor depth: -743.827805 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.55; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.13; MB_Bottom_Detect_Filter_Max_Range = 207.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 109.614309 meters # Minimum depth: 737.701119 meters looking forward 100.000000 meters along route # Maximum depth: 742.689319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.701119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337287; longitude = -118.133801; captureRadius = 10; duration = 219; initialDepth = 691.811427; finalDepth = 687.701119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.549665 # Actual altitude: 54.549665 # Commanded vehicle depth: 687.701119 # Seafloor depth: -742.250784 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.20; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.73; MB_Bottom_Detect_Filter_Max_Range = 218.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 105.776162 meters # Minimum depth: 741.811427 meters looking forward 100.000000 meters along route # Maximum depth: 743.337403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.811427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337693; longitude = -118.132727; captureRadius = 10; duration = 211; initialDepth = 692.925140; finalDepth = 691.811427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.549665 # Actual altitude: 54.549665 # Commanded vehicle depth: 691.811427 # Seafloor depth: -743.012034 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.20; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.73; MB_Bottom_Detect_Filter_Max_Range = 218.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 102.489785 meters # Minimum depth: 742.925140 meters looking forward 100.000000 meters along route # Maximum depth: 747.249113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.925140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338085; longitude = -118.131691; captureRadius = 10; duration = 204; initialDepth = 697.660751; finalDepth = 692.925140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.200607 # Actual altitude: 51.200607 # Commanded vehicle depth: 692.92514 # Seafloor depth: -743.039905 # behavior reson { duration = 6; 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 = 30.72; 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 17 # Segment length 109.613003 meters # Minimum depth: 747.660751 meters looking forward 100.000000 meters along route # Maximum depth: 754.939789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.660751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338464; longitude = -118.130687; captureRadius = 10; duration = 219; initialDepth = 705.835435; finalDepth = 697.660751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1147649999999 # Actual altitude: 50.1147649999999 # Commanded vehicle depth: 697.660751 # Seafloor depth: -747.660751 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.07; MB_Bottom_Detect_Filter_Max_Range = 200.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.023436 meters # Minimum depth: 755.835435 meters looking forward 100.000000 meters along route # Maximum depth: 765.560887 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.835435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338870; longitude = -118.129613; captureRadius = 10; duration = 214; initialDepth = 716.085811; finalDepth = 705.835435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 705.835435 # Seafloor depth: -755.835435 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.240032 meters # Minimum depth: 766.085811 meters looking forward 100.000000 meters along route # Maximum depth: 767.689449 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.085811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339266; longitude = -118.128564; captureRadius = 10; duration = 202; initialDepth = 714.933228; finalDepth = 716.085811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 716.085811 # Seafloor depth: -766.085811 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.838306 meters # Minimum depth: 764.933228 meters looking forward 100.000000 meters along route # Maximum depth: 767.351112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.933228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339641; longitude = -118.127572; captureRadius = 10; duration = 203; initialDepth = 714.466497; finalDepth = 714.933228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.417884 # Actual altitude: 52.417884 # Commanded vehicle depth: 714.933228 # Seafloor depth: -767.351112 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.67; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.45; MB_Bottom_Detect_Filter_Max_Range = 209.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.423537 meters # Minimum depth: 764.466497 meters looking forward 100.000000 meters along route # Maximum depth: 777.960559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.466497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340018; longitude = -118.126575; captureRadius = 10; duration = 212; initialDepth = 731.169654; finalDepth = 714.466497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.417884 # Actual altitude: 52.417884 # Commanded vehicle depth: 714.466497 # Seafloor depth: -764.870290 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.67; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.45; MB_Bottom_Detect_Filter_Max_Range = 209.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 109.610844 meters # Minimum depth: 781.169654 meters looking forward 100.000000 meters along route # Maximum depth: 802.593060 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.169654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340412; longitude = -118.125532; captureRadius = 10; duration = 219; initialDepth = 753.396870; finalDepth = 731.169654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.403793 # Actual altitude: 50.403793 # Commanded vehicle depth: 731.169654 # Seafloor depth: -781.169654 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.62; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.24; MB_Bottom_Detect_Filter_Max_Range = 201.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 103.085602 meters # Minimum depth: 803.396870 meters looking forward 100.000000 meters along route # Maximum depth: 807.085643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.396870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340818; longitude = -118.124458; captureRadius = 10; duration = 206; initialDepth = 757.253883; finalDepth = 753.396870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 753.39687 # Seafloor depth: -803.396870 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.173762 meters # Minimum depth: 807.253883 meters looking forward 100.000000 meters along route # Maximum depth: 810.749232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.253883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341199; longitude = -118.123448; captureRadius = 10; duration = 210; initialDepth = 760.919693; finalDepth = 757.253883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 757.253883 # Seafloor depth: -807.253883 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.609540 meters # Minimum depth: 810.919693 meters looking forward 100.000000 meters along route # Maximum depth: 814.062350 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.919693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341589; longitude = -118.122417; captureRadius = 10; duration = 219; initialDepth = 762.199984; finalDepth = 760.919693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 760.919693 # Seafloor depth: -810.919693 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.332868 meters # Minimum depth: 812.199984 meters looking forward 100.000000 meters along route # Maximum depth: 815.193098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 762.199984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341994; longitude = -118.121343; captureRadius = 10; duration = 208; initialDepth = 761.632650; finalDepth = 762.199984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0831900000001 # Actual altitude: 52.0831900000001 # Commanded vehicle depth: 762.199984 # Seafloor depth: -814.283174 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.33; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.25; MB_Bottom_Detect_Filter_Max_Range = 208.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 103.924018 meters # Minimum depth: 811.632650 meters looking forward 100.000000 meters along route # Maximum depth: 812.057405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 761.632650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342381; longitude = -118.120321; captureRadius = 10; duration = 207; initialDepth = 761.831878; finalDepth = 761.632650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0831900000001 # Actual altitude: 52.0831900000001 # Commanded vehicle depth: 761.63265 # Seafloor depth: -812.057405 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.33; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.25; MB_Bottom_Detect_Filter_Max_Range = 208.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 109.608235 meters # Minimum depth: 811.831878 meters looking forward 100.000000 meters along route # Maximum depth: 811.930327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 761.831878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342765; longitude = -118.119303; captureRadius = 10; duration = 219; initialDepth = 761.038914; finalDepth = 761.831878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.424755 # Actual altitude: 50.424755 # Commanded vehicle depth: 761.831878 # Seafloor depth: -811.831878 # behavior reson { duration = 6; 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 = 30.25; 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 during line 17 # Segment length 105.314088 meters # Minimum depth: 811.038914 meters looking forward 100.000000 meters along route # Maximum depth: 811.813411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 761.038914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343171; longitude = -118.118229; captureRadius = 10; duration = 210; initialDepth = 761.045410; finalDepth = 761.038914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.774497 # Actual altitude: 50.774497 # Commanded vehicle depth: 761.038914 # Seafloor depth: -811.813411 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 203.10; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.46; MB_Bottom_Detect_Filter_Max_Range = 203.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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: 811.045410 meters looking forward 100.000000 meters along route # Maximum depth: 811.987607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 761.045410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343561; longitude = -118.117197; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 762.070801; finalDepth = 761.045410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50.774497 # Actual altitude: 50.774497 # Commanded vehicle depth: 761.04541 # Seafloor depth: -811.045410 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 203.10; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.46; MB_Bottom_Detect_Filter_Max_Range = 203.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 101.551732 meters # Minimum depth: 812.070801 meters looking forward 100.000000 meters along route # Maximum depth: 814.845695 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 762.070801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342327; longitude = -118.116536; captureRadius = 10; duration = 203; # abortOnTimeout = True; initialDepth = 764.901287; finalDepth = 762.070801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 762.070801 # Seafloor depth: -812.070801 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 104.110207 meters # Minimum depth: 814.901287 meters looking forward 100.000000 meters along route # Maximum depth: 815.149793 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 764.901287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341951; longitude = -118.117531; captureRadius = 10; duration = 208; initialDepth = 764.905587; finalDepth = 764.901287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 764.901287 # Seafloor depth: -814.901287 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.610688 meters # Minimum depth: 814.905587 meters looking forward 100.000000 meters along route # Maximum depth: 815.435924 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 764.905587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341566; longitude = -118.118551; captureRadius = 10; duration = 219; initialDepth = 759.998209; finalDepth = 764.905587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.314034 # Actual altitude: 50.314034 # Commanded vehicle depth: 764.905587 # Seafloor depth: -815.219621 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.26; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.19; 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 15 # Segment length 105.385209 meters # Minimum depth: 809.998209 meters looking forward 100.000000 meters along route # Maximum depth: 816.480340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 759.998209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341160; longitude = -118.119625; captureRadius = 10; duration = 210; initialDepth = 758.297383; finalDepth = 759.998209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.297958 # Actual altitude: 55.297958 # Commanded vehicle depth: 759.998209 # Seafloor depth: -815.296167 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.19; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.18; MB_Bottom_Detect_Filter_Max_Range = 221.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 102.876338 meters # Minimum depth: 808.297383 meters looking forward 100.000000 meters along route # Maximum depth: 809.777824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.297383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340770; longitude = -118.120658; captureRadius = 10; duration = 205; initialDepth = 752.805744; finalDepth = 758.297383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.297958 # Actual altitude: 55.297958 # Commanded vehicle depth: 758.297383 # Seafloor depth: -809.777824 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.19; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.18; MB_Bottom_Detect_Filter_Max_Range = 221.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 109.611992 meters # Minimum depth: 802.805744 meters looking forward 100.000000 meters along route # Maximum depth: 808.104252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 752.805744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340389; longitude = -118.121666; captureRadius = 10; duration = 219; initialDepth = 733.518193; finalDepth = 752.805744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.298508 # Actual altitude: 55.298508 # Commanded vehicle depth: 752.805744 # Seafloor depth: -808.104252 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.19; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.18; MB_Bottom_Detect_Filter_Max_Range = 221.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 106.621587 meters # Minimum depth: 783.518193 meters looking forward 100.000000 meters along route # Maximum depth: 801.687134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 733.518193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339983; longitude = -118.122740; captureRadius = 10; duration = 213; initialDepth = 718.415698; finalDepth = 733.518193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.168941 # Actual altitude: 68.168941 # Commanded vehicle depth: 733.518193 # Seafloor depth: -801.687134 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 272.68; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.90; MB_Bottom_Detect_Filter_Max_Range = 272.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 101.642438 meters # Minimum depth: 768.415698 meters looking forward 100.000000 meters along route # Maximum depth: 781.899888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.415698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339588; longitude = -118.123784; captureRadius = 10; duration = 203; initialDepth = 717.445591; finalDepth = 718.415698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.168941 # Actual altitude: 68.168941 # Commanded vehicle depth: 718.415698 # Seafloor depth: -781.899888 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 272.68; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.90; MB_Bottom_Detect_Filter_Max_Range = 272.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 109.613297 meters # Minimum depth: 767.445591 meters looking forward 100.000000 meters along route # Maximum depth: 768.876376 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.445591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339212; longitude = -118.124780; captureRadius = 10; duration = 219; initialDepth = 716.943247; finalDepth = 717.445591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.48419 # Actual altitude: 63.48419 # Commanded vehicle depth: 717.445591 # Seafloor depth: -767.981252 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 253.94; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.09; MB_Bottom_Detect_Filter_Max_Range = 253.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 253.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.857994 meters # Minimum depth: 766.943247 meters looking forward 100.000000 meters along route # Maximum depth: 767.912140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.943247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338806; longitude = -118.125854; captureRadius = 10; duration = 215; initialDepth = 714.878549; finalDepth = 716.943247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.890266 # Actual altitude: 50.890266 # Commanded vehicle depth: 716.943247 # Seafloor depth: -767.833513 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.56; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.53; MB_Bottom_Detect_Filter_Max_Range = 203.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.408509 meters # Minimum depth: 764.878549 meters looking forward 100.000000 meters along route # Maximum depth: 767.091152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.878549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338407; longitude = -118.126911; captureRadius = 10; duration = 200; initialDepth = 706.712994; finalDepth = 714.878549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2126029999999 # Actual altitude: 52.2126029999999 # Commanded vehicle depth: 714.878549 # Seafloor depth: -767.091152 # behavior reson { duration = 6; 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 = 31.33; 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 15 # Segment length 102.665849 meters # Minimum depth: 756.712994 meters looking forward 100.000000 meters along route # Maximum depth: 764.968909 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.712994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338035; longitude = -118.127895; captureRadius = 10; duration = 205; initialDepth = 696.436917; finalDepth = 706.712994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.2559150000001 # Actual altitude: 58.2559150000001 # Commanded vehicle depth: 706.712994 # Seafloor depth: -764.968909 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 233.02; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.95; MB_Bottom_Detect_Filter_Max_Range = 233.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 105.602279 meters # Minimum depth: 746.436917 meters looking forward 100.000000 meters along route # Maximum depth: 756.302122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.436917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337655; longitude = -118.128900; captureRadius = 10; duration = 211; initialDepth = 692.809111; finalDepth = 696.436917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.8652050000001 # Actual altitude: 59.8652050000001 # Commanded vehicle depth: 696.436917 # Seafloor depth: -756.302122 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 239.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.92; MB_Bottom_Detect_Filter_Max_Range = 239.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 109.615457 meters # Minimum depth: 742.809111 meters looking forward 100.000000 meters along route # Maximum depth: 745.883652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.809111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337264; longitude = -118.129935; captureRadius = 10; duration = 219; initialDepth = 692.008987; finalDepth = 692.809111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.8652050000001 # Actual altitude: 59.8652050000001 # Commanded vehicle depth: 692.809111 # Seafloor depth: -745.883652 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 239.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.92; MB_Bottom_Detect_Filter_Max_Range = 239.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 103.902234 meters # Minimum depth: 742.008987 meters looking forward 100.000000 meters along route # Maximum depth: 743.575330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.008987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336858; longitude = -118.131009; captureRadius = 10; duration = 207; initialDepth = 689.516645; finalDepth = 692.008987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.074541 # Actual altitude: 53.074541 # Commanded vehicle depth: 692.008987 # Seafloor depth: -742.571534 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.30; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.84; MB_Bottom_Detect_Filter_Max_Range = 212.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.368373 meters # Minimum depth: 739.516645 meters looking forward 100.000000 meters along route # Maximum depth: 743.598540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.516645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336474; longitude = -118.132027; captureRadius = 10; duration = 208; initialDepth = 690.740289; finalDepth = 689.516645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.714068 # Actual altitude: 53.714068 # Commanded vehicle depth: 689.516645 # Seafloor depth: -743.230713 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.86; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.23; MB_Bottom_Detect_Filter_Max_Range = 214.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 109.616762 meters # Minimum depth: 740.740289 meters looking forward 100.000000 meters along route # Maximum depth: 744.377726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.740289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336087; longitude = -118.133050; captureRadius = 10; duration = 219; initialDepth = 694.054507; finalDepth = 690.740289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.714068 # Actual altitude: 53.714068 # Commanded vehicle depth: 690.740289 # Seafloor depth: -741.597764 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.86; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.23; MB_Bottom_Detect_Filter_Max_Range = 214.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 105.138649 meters # Minimum depth: 744.054507 meters looking forward 100.000000 meters along route # Maximum depth: 745.416611 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.054507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335682; longitude = -118.134124; captureRadius = 10; duration = 210; initialDepth = 687.809179; finalDepth = 694.054507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.857475 # Actual altitude: 50.857475 # Commanded vehicle depth: 694.054507 # Seafloor depth: -744.389462 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.43; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.51; MB_Bottom_Detect_Filter_Max_Range = 203.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 103.134439 meters # Minimum depth: 737.809179 meters looking forward 100.000000 meters along route # Maximum depth: 745.835908 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.809179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335292; longitude = -118.135154; captureRadius = 10; duration = 206; initialDepth = 688.175707; finalDepth = 687.809179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.650137 # Actual altitude: 57.650137 # Commanded vehicle depth: 687.809179 # Seafloor depth: -745.459316 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 230.60; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.59; MB_Bottom_Detect_Filter_Max_Range = 230.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 109.618067 meters # Minimum depth: 738.175707 meters looking forward 100.000000 meters along route # Maximum depth: 743.919301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.175707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334911; longitude = -118.136164; captureRadius = 10; duration = 219; initialDepth = 691.787404; finalDepth = 688.175707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.650137 # Actual altitude: 57.650137 # Commanded vehicle depth: 688.175707 # Seafloor depth: -738.175707 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 230.60; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.59; MB_Bottom_Detect_Filter_Max_Range = 230.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 106.375092 meters # Minimum depth: 741.787404 meters looking forward 100.000000 meters along route # Maximum depth: 742.910473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.787404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334505; longitude = -118.137238; captureRadius = 10; duration = 212; initialDepth = 691.997057; finalDepth = 691.787404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0276759999999 # Actual altitude: 51.0276759999999 # Commanded vehicle depth: 691.787404 # Seafloor depth: -742.815080 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.11; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.62; MB_Bottom_Detect_Filter_Max_Range = 204.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 101.900475 meters # Minimum depth: 741.997057 meters looking forward 100.000000 meters along route # Maximum depth: 745.268334 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.997057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334111; longitude = -118.138280; captureRadius = 10; duration = 203; initialDepth = 695.412662; finalDepth = 691.997057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.876394 # Actual altitude: 51.876394 # Commanded vehicle depth: 691.997057 # Seafloor depth: -743.873451 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.51; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.13; MB_Bottom_Detect_Filter_Max_Range = 207.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.223694 meters # Minimum depth: 745.412662 meters looking forward 100.000000 meters along route # Maximum depth: 749.729986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.412662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333734; longitude = -118.139279; captureRadius = 10; duration = 214; initialDepth = 693.543571; finalDepth = 695.412662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.876394 # Actual altitude: 51.876394 # Commanded vehicle depth: 695.412662 # Seafloor depth: -745.412662 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 207.51; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.13; MB_Bottom_Detect_Filter_Max_Range = 207.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 149.960314 meters # Minimum depth: 743.543571 meters looking forward 100.000000 meters along route # Maximum depth: 748.935303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.543571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333337; longitude = -118.140329; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 694.803452; finalDepth = 693.543571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 55.3917319999999 # Actual altitude: 55.3917319999999 # Commanded vehicle depth: 693.543571 # Seafloor depth: -748.935303 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 221.57; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.24; MB_Bottom_Detect_Filter_Max_Range = 221.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 94.462896 meters # Minimum depth: 744.803452 meters looking forward 100.000000 meters along route # Maximum depth: 751.315122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.803452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332104; longitude = -118.139667; captureRadius = 10; duration = 188; # abortOnTimeout = True; initialDepth = 691.408028; finalDepth = 694.803452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3917319999999 # Actual altitude: 55.3917319999999 # Commanded vehicle depth: 694.803452 # Seafloor depth: -744.803452 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.57; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.24; MB_Bottom_Detect_Filter_Max_Range = 221.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.618960 meters # Minimum depth: 741.408028 meters looking forward 100.000000 meters along route # Maximum depth: 748.492853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.408028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332454; longitude = -118.138742; captureRadius = 10; duration = 219; initialDepth = 693.330393; finalDepth = 691.408028; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.084825 # Actual altitude: 57.084825 # Commanded vehicle depth: 691.408028 # Seafloor depth: -748.492853 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 228.34; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.25; MB_Bottom_Detect_Filter_Max_Range = 228.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 106.049807 meters # Minimum depth: 743.330393 meters looking forward 100.000000 meters along route # Maximum depth: 744.587093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.330393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332859; longitude = -118.137668; captureRadius = 10; duration = 212; initialDepth = 691.562727; finalDepth = 693.330393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.084825 # Actual altitude: 57.084825 # Commanded vehicle depth: 693.330393 # Seafloor depth: -744.273358 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 228.34; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.25; MB_Bottom_Detect_Filter_Max_Range = 228.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 102.224977 meters # Minimum depth: 741.562727 meters looking forward 100.000000 meters along route # Maximum depth: 746.416640 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.562727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333252; longitude = -118.136629; captureRadius = 10; duration = 204; initialDepth = 691.385335; finalDepth = 691.562727; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.800793 # Actual altitude: 53.800793 # Commanded vehicle depth: 691.562727 # Seafloor depth: -745.363520 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 215.20; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.28; MB_Bottom_Detect_Filter_Max_Range = 215.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 109.617655 meters # Minimum depth: 741.385335 meters looking forward 100.000000 meters along route # Maximum depth: 744.736568 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.385335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333630; longitude = -118.135627; captureRadius = 10; duration = 219; initialDepth = 692.526096; finalDepth = 691.385335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.800793 # Actual altitude: 53.800793 # Commanded vehicle depth: 691.385335 # Seafloor depth: -741.385335 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 215.20; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.28; MB_Bottom_Detect_Filter_Max_Range = 215.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.305804 meters # Minimum depth: 742.526096 meters looking forward 100.000000 meters along route # Maximum depth: 746.991497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.526096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334036; longitude = -118.134553; captureRadius = 10; duration = 214; initialDepth = 694.412179; finalDepth = 692.526096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 692.526096 # Seafloor depth: -742.526096 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.966500 meters # Minimum depth: 744.412179 meters looking forward 100.000000 meters along route # Maximum depth: 747.871620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.412179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334433; longitude = -118.133502; captureRadius = 10; duration = 201; initialDepth = 693.383233; finalDepth = 694.412179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6407439999999 # Actual altitude: 50.6407439999999 # Commanded vehicle depth: 694.412179 # Seafloor depth: -745.052923 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.56; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.38; MB_Bottom_Detect_Filter_Max_Range = 202.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 102.125973 meters # Minimum depth: 743.383233 meters looking forward 100.000000 meters along route # Maximum depth: 748.397576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.383233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334807; longitude = -118.132513; captureRadius = 10; duration = 204; initialDepth = 691.946235; finalDepth = 693.383233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0143429999999 # Actual altitude: 55.0143429999999 # Commanded vehicle depth: 693.383233 # Seafloor depth: -748.397576 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.06; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.01; MB_Bottom_Detect_Filter_Max_Range = 220.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 106.144706 meters # Minimum depth: 741.946235 meters looking forward 100.000000 meters along route # Maximum depth: 745.894364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.946235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335185; longitude = -118.131512; captureRadius = 10; duration = 212; initialDepth = 693.973252; finalDepth = 691.946235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0143429999999 # Actual altitude: 55.0143429999999 # Commanded vehicle depth: 691.946235 # Seafloor depth: -743.079781 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.06; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.01; MB_Bottom_Detect_Filter_Max_Range = 220.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 109.615495 meters # Minimum depth: 743.973252 meters looking forward 100.000000 meters along route # Maximum depth: 745.659210 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.973252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335578; longitude = -118.130472; captureRadius = 10; duration = 219; initialDepth = 694.978273; finalDepth = 693.973252; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.133546 # Actual altitude: 51.133546 # Commanded vehicle depth: 693.973252 # Seafloor depth: -743.973252 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.53; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.68; MB_Bottom_Detect_Filter_Max_Range = 204.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 103.381993 meters # Minimum depth: 744.978273 meters looking forward 100.000000 meters along route # Maximum depth: 753.816850 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.978273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335984; longitude = -118.129398; captureRadius = 10; duration = 206; initialDepth = 704.098428; finalDepth = 694.978273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 694.978273 # Seafloor depth: -744.978273 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 104.886207 meters # Minimum depth: 754.098428 meters looking forward 100.000000 meters along route # Maximum depth: 765.317821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.098428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336366; longitude = -118.128385; captureRadius = 10; duration = 209; initialDepth = 715.936116; finalDepth = 704.098428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 704.098428 # Seafloor depth: -754.098428 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.614190 meters # Minimum depth: 765.936116 meters looking forward 100.000000 meters along route # Maximum depth: 768.461784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.936116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336755; longitude = -118.127358; captureRadius = 10; duration = 219; initialDepth = 718.696723; finalDepth = 715.936116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 715.936116 # Seafloor depth: -765.936116 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 104.637983 meters # Minimum depth: 768.696723 meters looking forward 100.000000 meters along route # Maximum depth: 771.580228 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.696723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337160; longitude = -118.126284; captureRadius = 10; duration = 209; initialDepth = 721.644475; finalDepth = 718.696723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 718.696723 # Seafloor depth: -768.696723 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.627738 meters # Minimum depth: 771.644475 meters looking forward 100.000000 meters along route # Maximum depth: 772.472493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.644475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337548; longitude = -118.125258; captureRadius = 10; duration = 207; initialDepth = 720.448724; finalDepth = 721.644475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0602469999999 # Actual altitude: 50.0602469999999 # Commanded vehicle depth: 721.644475 # Seafloor depth: -771.704722 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.24; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.04; MB_Bottom_Detect_Filter_Max_Range = 200.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 109.612885 meters # Minimum depth: 770.448724 meters looking forward 100.000000 meters along route # Maximum depth: 773.100764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.448724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337931; longitude = -118.124243; captureRadius = 10; duration = 219; initialDepth = 719.794392; finalDepth = 720.448724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1089420000001 # Actual altitude: 52.1089420000001 # Commanded vehicle depth: 720.448724 # Seafloor depth: -772.557666 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.44; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.27; MB_Bottom_Detect_Filter_Max_Range = 208.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.893944 meters # Minimum depth: 769.794392 meters looking forward 100.000000 meters along route # Maximum depth: 775.219949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.794392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338337; longitude = -118.123169; captureRadius = 10; duration = 211; initialDepth = 726.114991; finalDepth = 719.794392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1089420000001 # Actual altitude: 52.1089420000001 # Commanded vehicle depth: 719.794392 # Seafloor depth: -770.068982 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.44; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.27; MB_Bottom_Detect_Filter_Max_Range = 208.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 102.369299 meters # Minimum depth: 776.114991 meters looking forward 100.000000 meters along route # Maximum depth: 792.655291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.114991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338729; longitude = -118.122132; captureRadius = 10; duration = 204; initialDepth = 744.871332; finalDepth = 726.114991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.27459 # Actual altitude: 50.27459 # Commanded vehicle depth: 726.114991 # Seafloor depth: -776.114991 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.10; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.16; MB_Bottom_Detect_Filter_Max_Range = 201.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 109.611581 meters # Minimum depth: 794.871332 meters looking forward 100.000000 meters along route # Maximum depth: 812.986510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.871332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339108; longitude = -118.121129; captureRadius = 10; duration = 219; initialDepth = 764.088690; finalDepth = 744.871332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 744.871332 # Seafloor depth: -794.871332 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.149874 meters # Minimum depth: 814.088690 meters looking forward 100.000000 meters along route # Maximum depth: 820.964708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 764.088690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339514; longitude = -118.120055; captureRadius = 10; duration = 214; initialDepth = 762.274557; finalDepth = 764.088690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 764.08869 # Seafloor depth: -814.088690 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.110891 meters # Minimum depth: 812.274557 meters looking forward 100.000000 meters along route # Maximum depth: 822.427585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 762.274557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339911; longitude = -118.119005; captureRadius = 10; duration = 202; initialDepth = 760.845874; finalDepth = 762.274557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.327992 # Actual altitude: 59.327992 # Commanded vehicle depth: 762.274557 # Seafloor depth: -821.602549 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 237.31; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.60; MB_Bottom_Detect_Filter_Max_Range = 237.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 109.610277 meters # Minimum depth: 810.845874 meters looking forward 100.000000 meters along route # Maximum depth: 813.458960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 760.845874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340285; longitude = -118.118014; captureRadius = 10; duration = 219; initialDepth = 758.326480; finalDepth = 760.845874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.327992 # Actual altitude: 59.327992 # Commanded vehicle depth: 760.845874 # Seafloor depth: -812.260467 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 237.31; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.60; MB_Bottom_Detect_Filter_Max_Range = 237.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 108.709347 meters # Minimum depth: 808.326480 meters looking forward 100.000000 meters along route # Maximum depth: 812.788380 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.326480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340691; longitude = -118.116940; captureRadius = 10; duration = 217; initialDepth = 758.772186; finalDepth = 758.326480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.87832 # Actual altitude: 53.87832 # Commanded vehicle depth: 758.32648 # Seafloor depth: -812.204800 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 215.51; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.33; MB_Bottom_Detect_Filter_Max_Range = 215.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 149.957340 meters # Minimum depth: 808.772186 meters looking forward 100.000000 meters along route # Maximum depth: 809.958730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 758.772186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341093; longitude = -118.115875; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 757.153302; finalDepth = 758.772186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 53.87832 # Actual altitude: 53.87832 # Commanded vehicle depth: 758.772186 # Seafloor depth: -808.772186 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 215.51; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.33; MB_Bottom_Detect_Filter_Max_Range = 215.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 110.510628 meters # Minimum depth: 807.153302 meters looking forward 100.000000 meters along route # Maximum depth: 809.982895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.153302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339860; longitude = -118.115213; captureRadius = 10; duration = 221; # abortOnTimeout = True; initialDepth = 755.490276; finalDepth = 757.153302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8295929999999 # Actual altitude: 52.8295929999999 # Commanded vehicle depth: 757.153302 # Seafloor depth: -809.982895 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.32; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.70; MB_Bottom_Detect_Filter_Max_Range = 211.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 107.923970 meters # Minimum depth: 805.490276 meters looking forward 100.000000 meters along route # Maximum depth: 807.646551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.490276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339451; longitude = -118.116296; captureRadius = 10; duration = 215; initialDepth = 751.846615; finalDepth = 755.490276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8295929999999 # Actual altitude: 52.8295929999999 # Commanded vehicle depth: 755.490276 # Seafloor depth: -806.347537 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 211.32; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.70; MB_Bottom_Detect_Filter_Max_Range = 211.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.340784 meters # Minimum depth: 801.846615 meters looking forward 100.000000 meters along route # Maximum depth: 807.939940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.846615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339051; longitude = -118.117353; captureRadius = 10; duration = 200; initialDepth = 740.071214; finalDepth = 751.846615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.351323 # Actual altitude: 55.351323 # Commanded vehicle depth: 751.846615 # Seafloor depth: -807.197938 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.41; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.21; MB_Bottom_Detect_Filter_Max_Range = 221.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.731869 meters # Minimum depth: 790.071214 meters looking forward 100.000000 meters along route # Maximum depth: 800.867859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.071214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338680; longitude = -118.118336; captureRadius = 10; duration = 205; initialDepth = 725.681425; finalDepth = 740.071214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.7966449999999 # Actual altitude: 60.7966449999999 # Commanded vehicle depth: 740.071214 # Seafloor depth: -800.867859 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 243.19; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.48; MB_Bottom_Detect_Filter_Max_Range = 243.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.534509 meters # Minimum depth: 775.681425 meters looking forward 100.000000 meters along route # Maximum depth: 789.489208 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.681425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338300; longitude = -118.119343; captureRadius = 10; duration = 211; initialDepth = 723.211642; finalDepth = 725.681425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.807783 # Actual altitude: 63.807783 # Commanded vehicle depth: 725.681425 # Seafloor depth: -789.489208 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 255.23; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.28; MB_Bottom_Detect_Filter_Max_Range = 255.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 255.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 109.614535 meters # Minimum depth: 773.211642 meters looking forward 100.000000 meters along route # Maximum depth: 775.286404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.211642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337909; longitude = -118.120377; captureRadius = 10; duration = 219; initialDepth = 720.866866; finalDepth = 723.211642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.807783 # Actual altitude: 63.807783 # Commanded vehicle depth: 723.211642 # Seafloor depth: -775.286404 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 255.23; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.28; MB_Bottom_Detect_Filter_Max_Range = 255.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 255.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 103.968243 meters # Minimum depth: 770.866866 meters looking forward 100.000000 meters along route # Maximum depth: 773.162827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.866866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337503; longitude = -118.121451; captureRadius = 10; duration = 207; initialDepth = 720.821610; finalDepth = 720.866866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.295961 # Actual altitude: 52.295961 # Commanded vehicle depth: 720.866866 # Seafloor depth: -773.162827 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.18; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.38; MB_Bottom_Detect_Filter_Max_Range = 209.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.300612 meters # Minimum depth: 770.821610 meters looking forward 100.000000 meters along route # Maximum depth: 773.036716 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.821610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337118; longitude = -118.122469; captureRadius = 10; duration = 208; initialDepth = 722.298169; finalDepth = 720.821610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.295961 # Actual altitude: 52.295961 # Commanded vehicle depth: 720.82161 # Seafloor depth: -770.866892 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.18; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.38; MB_Bottom_Detect_Filter_Max_Range = 209.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 109.615840 meters # Minimum depth: 772.298169 meters looking forward 100.000000 meters along route # Maximum depth: 774.748134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.298169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336732; longitude = -118.123491; captureRadius = 10; duration = 219; initialDepth = 719.701327; finalDepth = 722.298169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2436839999999 # Actual altitude: 50.2436839999999 # Commanded vehicle depth: 722.298169 # Seafloor depth: -772.541853 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.97; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.15; MB_Bottom_Detect_Filter_Max_Range = 200.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.204647 meters # Minimum depth: 769.701327 meters looking forward 100.000000 meters along route # Maximum depth: 774.849770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.701327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336326; longitude = -118.124565; captureRadius = 10; duration = 210; initialDepth = 717.315767; finalDepth = 719.701327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.148443 # Actual altitude: 55.148443 # Commanded vehicle depth: 719.701327 # Seafloor depth: -774.849770 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.59; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.09; MB_Bottom_Detect_Filter_Max_Range = 220.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 103.066687 meters # Minimum depth: 767.315767 meters looking forward 100.000000 meters along route # Maximum depth: 770.075462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.315767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335937; longitude = -118.125596; captureRadius = 10; duration = 206; initialDepth = 707.116084; finalDepth = 717.315767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.148443 # Actual altitude: 55.148443 # Commanded vehicle depth: 717.315767 # Seafloor depth: -770.075462 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.59; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.09; MB_Bottom_Detect_Filter_Max_Range = 220.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 109.617144 meters # Minimum depth: 757.116084 meters looking forward 100.000000 meters along route # Maximum depth: 766.686280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.116084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335555; longitude = -118.126606; captureRadius = 10; duration = 219; initialDepth = 697.772047; finalDepth = 707.116084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.570196 # Actual altitude: 59.570196 # Commanded vehicle depth: 707.116084 # Seafloor depth: -766.686280 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 238.28; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.74; MB_Bottom_Detect_Filter_Max_Range = 238.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 106.441082 meters # Minimum depth: 747.772047 meters looking forward 100.000000 meters along route # Maximum depth: 755.641726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.772047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335150; longitude = -118.127680; captureRadius = 10; duration = 212; initialDepth = 695.958781; finalDepth = 697.772047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.570196 # Actual altitude: 59.570196 # Commanded vehicle depth: 697.772047 # Seafloor depth: -755.641726 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 238.28; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.74; MB_Bottom_Detect_Filter_Max_Range = 238.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 101.832731 meters # Minimum depth: 745.958781 meters looking forward 100.000000 meters along route # Maximum depth: 747.229945 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.958781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334756; longitude = -118.128723; captureRadius = 10; duration = 203; initialDepth = 694.051023; finalDepth = 695.958781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.8696789999999 # Actual altitude: 57.8696789999999 # Commanded vehicle depth: 695.958781 # Seafloor depth: -747.229945 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 231.48; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.72; MB_Bottom_Detect_Filter_Max_Range = 231.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 109.618449 meters # Minimum depth: 744.051023 meters looking forward 100.000000 meters along route # Maximum depth: 746.021496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.051023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334379; longitude = -118.129720; captureRadius = 10; duration = 219; initialDepth = 693.563378; finalDepth = 694.051023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.970473 # Actual altitude: 51.970473 # Commanded vehicle depth: 694.051023 # Seafloor depth: -746.021496 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.88; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.18; MB_Bottom_Detect_Filter_Max_Range = 207.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.677545 meters # Minimum depth: 743.563378 meters looking forward 100.000000 meters along route # Maximum depth: 749.758088 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.563378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333973; longitude = -118.130794; captureRadius = 10; duration = 215; initialDepth = 695.860957; finalDepth = 693.563378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.970473 # Actual altitude: 51.970473 # Commanded vehicle depth: 693.563378 # Seafloor depth: -744.028483 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.88; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.18; MB_Bottom_Detect_Filter_Max_Range = 207.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.598748 meters # Minimum depth: 745.860957 meters looking forward 100.000000 meters along route # Maximum depth: 748.947676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.860957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333574; longitude = -118.131849; captureRadius = 10; duration = 201; initialDepth = 694.539978; finalDepth = 695.860957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4651050000001 # Actual altitude: 50.4651050000001 # Commanded vehicle depth: 695.860957 # Seafloor depth: -745.959539 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.86; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.28; MB_Bottom_Detect_Filter_Max_Range = 201.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.485154 meters # Minimum depth: 744.539978 meters looking forward 100.000000 meters along route # Maximum depth: 748.524634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.539978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333202; longitude = -118.132835; captureRadius = 10; duration = 204; initialDepth = 694.703940; finalDepth = 694.539978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.984656 # Actual altitude: 53.984656 # Commanded vehicle depth: 694.539978 # Seafloor depth: -748.524634 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 215.94; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.39; MB_Bottom_Detect_Filter_Max_Range = 215.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.792763 meters # Minimum depth: 744.703940 meters looking forward 100.000000 meters along route # Maximum depth: 746.844075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.703940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332822; longitude = -118.133839; captureRadius = 10; duration = 211; initialDepth = 693.548768; finalDepth = 694.703940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.984656 # Actual altitude: 53.984656 # Commanded vehicle depth: 694.70394 # Seafloor depth: -744.703940 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 215.94; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.39; MB_Bottom_Detect_Filter_Max_Range = 215.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 109.620609 meters # Minimum depth: 743.548768 meters looking forward 100.000000 meters along route # Maximum depth: 748.578926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.548768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332431; longitude = -118.134875; captureRadius = 10; duration = 219; initialDepth = 694.357740; finalDepth = 693.548768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.827311 # Actual altitude: 53.827311 # Commanded vehicle depth: 693.548768 # Seafloor depth: -747.376079 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 215.31; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.30; MB_Bottom_Detect_Filter_Max_Range = 215.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 103.721595 meters # Minimum depth: 744.357740 meters looking forward 100.000000 meters along route # Maximum depth: 749.921658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.357740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332025; longitude = -118.135949; captureRadius = 10; duration = 207; initialDepth = 695.605801; finalDepth = 694.357740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.827311 # Actual altitude: 53.827311 # Commanded vehicle depth: 694.35774 # Seafloor depth: -745.807819 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 215.31; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.30; MB_Bottom_Detect_Filter_Max_Range = 215.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.558802 meters # Minimum depth: 745.605801 meters looking forward 100.000000 meters along route # Maximum depth: 748.592097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.605801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.331641; longitude = -118.136965; captureRadius = 10; duration = 209; initialDepth = 694.506732; finalDepth = 695.605801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.450079 # Actual altitude: 51.450079 # Commanded vehicle depth: 695.605801 # Seafloor depth: -745.605801 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.80; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.87; MB_Bottom_Detect_Filter_Max_Range = 205.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 103.730422 meters # Minimum depth: 744.506732 meters looking forward 100.000000 meters along route # Maximum depth: 754.515944 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.506732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.331254; longitude = -118.137990; captureRadius = 10; duration = 207; initialDepth = 696.298834; finalDepth = 694.506732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.827274 # Actual altitude: 53.827274 # Commanded vehicle depth: 694.506732 # Seafloor depth: -748.334006 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 215.31; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.30; MB_Bottom_Detect_Filter_Max_Range = 215.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.31; 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: 746.298834 meters looking forward 100.000000 meters along route # Maximum depth: 753.927414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.298834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.330870; longitude = -118.139006; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 697.912277; finalDepth = 696.298834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 57.6285799999999 # Actual altitude: 57.6285799999999 # Commanded vehicle depth: 696.298834 # Seafloor depth: -753.927414 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 230.51; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.58; MB_Bottom_Detect_Filter_Max_Range = 230.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 106.197856 meters # Minimum depth: 747.912277 meters looking forward 100.000000 meters along route # Maximum depth: 752.702946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.912277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.329637; longitude = -118.138344; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 699.892980; finalDepth = 697.912277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.6285799999999 # Actual altitude: 57.6285799999999 # Commanded vehicle depth: 697.912277 # Seafloor depth: -747.912277 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 230.51; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.58; MB_Bottom_Detect_Filter_Max_Range = 230.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.355099 meters # Minimum depth: 749.892980 meters looking forward 100.000000 meters along route # Maximum depth: 753.708746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.892980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.330030; longitude = -118.137304; captureRadius = 10; duration = 210; initialDepth = 697.029216; finalDepth = 699.892980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.493366 # Actual altitude: 53.493366 # Commanded vehicle depth: 699.89298 # Seafloor depth: -753.386346 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.97; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.10; MB_Bottom_Detect_Filter_Max_Range = 213.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 109.621007 meters # Minimum depth: 747.029216 meters looking forward 100.000000 meters along route # Maximum depth: 751.071260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.029216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.330420; longitude = -118.136271; captureRadius = 10; duration = 219; initialDepth = 693.299321; finalDepth = 697.029216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.493366 # Actual altitude: 53.493366 # Commanded vehicle depth: 697.029216 # Seafloor depth: -750.441233 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.97; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.10; MB_Bottom_Detect_Filter_Max_Range = 213.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.182127 meters # Minimum depth: 743.299321 meters looking forward 100.000000 meters along route # Maximum depth: 746.934644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.299321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.330826; longitude = -118.135197; captureRadius = 10; duration = 208; initialDepth = 695.790162; finalDepth = 693.299321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.412017 # Actual altitude: 53.412017 # Commanded vehicle depth: 693.299321 # Seafloor depth: -745.439063 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.65; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.05; MB_Bottom_Detect_Filter_Max_Range = 213.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.096546 meters # Minimum depth: 745.790162 meters looking forward 100.000000 meters along route # Maximum depth: 748.461882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.790162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.331211; longitude = -118.134177; captureRadius = 10; duration = 208; initialDepth = 689.727920; finalDepth = 695.790162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1397420000001 # Actual altitude: 52.1397420000001 # Commanded vehicle depth: 695.790162 # Seafloor depth: -746.123433 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.56; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.28; MB_Bottom_Detect_Filter_Max_Range = 208.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 109.619701 meters # Minimum depth: 739.727920 meters looking forward 100.000000 meters along route # Maximum depth: 745.425121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.727920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.331597; longitude = -118.133157; captureRadius = 10; duration = 219; initialDepth = 692.526268; finalDepth = 689.727920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6972009999999 # Actual altitude: 55.6972009999999 # Commanded vehicle depth: 689.72792 # Seafloor depth: -745.425121 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.42; MB_Bottom_Detect_Filter_Max_Range = 222.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 105.438171 meters # Minimum depth: 742.526268 meters looking forward 100.000000 meters along route # Maximum depth: 747.335743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.526268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332003; longitude = -118.132083; captureRadius = 10; duration = 210; initialDepth = 691.422963; finalDepth = 692.526268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6972009999999 # Actual altitude: 55.6972009999999 # Commanded vehicle depth: 692.526268 # Seafloor depth: -742.526268 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.42; MB_Bottom_Detect_Filter_Max_Range = 222.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.838023 meters # Minimum depth: 741.422963 meters looking forward 100.000000 meters along route # Maximum depth: 747.905282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.422963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332393; longitude = -118.131050; captureRadius = 10; duration = 205; initialDepth = 692.240981; finalDepth = 691.422963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.532564 # Actual altitude: 55.532564 # Commanded vehicle depth: 691.422963 # Seafloor depth: -746.955527 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.13; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.32; MB_Bottom_Detect_Filter_Max_Range = 222.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 109.618397 meters # Minimum depth: 742.240981 meters looking forward 100.000000 meters along route # Maximum depth: 746.139133 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.240981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332773; longitude = -118.130042; captureRadius = 10; duration = 219; initialDepth = 694.217394; finalDepth = 692.240981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.532564 # Actual altitude: 55.532564 # Commanded vehicle depth: 692.240981 # Seafloor depth: -742.240981 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.13; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.32; MB_Bottom_Detect_Filter_Max_Range = 222.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 106.694184 meters # Minimum depth: 744.217394 meters looking forward 100.000000 meters along route # Maximum depth: 746.133648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.217394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333179; longitude = -118.128968; captureRadius = 10; duration = 213; initialDepth = 695.907933; finalDepth = 694.217394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.284546 # Actual altitude: 50.284546 # Commanded vehicle depth: 694.217394 # Seafloor depth: -744.501940 # behavior reson { duration = 6; 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 = 30.17; 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 9 # Segment length 101.579530 meters # Minimum depth: 745.907933 meters looking forward 100.000000 meters along route # Maximum depth: 753.819279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.907933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333574; longitude = -118.127923; captureRadius = 10; duration = 203; initialDepth = 704.381076; finalDepth = 695.907933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.284546 # Actual altitude: 50.284546 # Commanded vehicle depth: 695.907933 # Seafloor depth: -745.907933 # behavior reson { duration = 6; 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 = 30.17; 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 9 # Segment length 109.617092 meters # Minimum depth: 754.381076 meters looking forward 100.000000 meters along route # Maximum depth: 763.667965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.381076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333950; longitude = -118.126928; captureRadius = 10; duration = 219; initialDepth = 714.019150; finalDepth = 704.381076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 704.381076 # Seafloor depth: -754.381076 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.950168 meters # Minimum depth: 764.019150 meters looking forward 100.000000 meters along route # Maximum depth: 767.817818 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.019150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334356; longitude = -118.125854; captureRadius = 10; duration = 215; initialDepth = 718.162482; finalDepth = 714.019150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.525884 # Actual altitude: 50.525884 # Commanded vehicle depth: 714.01915 # Seafloor depth: -764.545034 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.10; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.32; MB_Bottom_Detect_Filter_Max_Range = 202.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.321068 meters # Minimum depth: 768.162482 meters looking forward 100.000000 meters along route # Maximum depth: 769.234547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.162482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334756; longitude = -118.124796; captureRadius = 10; duration = 200; initialDepth = 717.444889; finalDepth = 718.162482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.525884 # Actual altitude: 50.525884 # Commanded vehicle depth: 718.162482 # Seafloor depth: -768.162482 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.10; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.32; MB_Bottom_Detect_Filter_Max_Range = 202.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.770359 meters # Minimum depth: 767.444889 meters looking forward 100.000000 meters along route # Maximum depth: 770.840259 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.444889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335127; longitude = -118.123813; captureRadius = 10; duration = 205; initialDepth = 716.488131; finalDepth = 717.444889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.685572 # Actual altitude: 52.685572 # Commanded vehicle depth: 717.444889 # Seafloor depth: -770.130461 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.74; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.61; MB_Bottom_Detect_Filter_Max_Range = 210.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 105.499253 meters # Minimum depth: 766.488131 meters looking forward 100.000000 meters along route # Maximum depth: 769.829526 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.488131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335507; longitude = -118.122807; captureRadius = 10; duration = 210; initialDepth = 716.366813; finalDepth = 716.488131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.685572 # Actual altitude: 52.685572 # Commanded vehicle depth: 716.488131 # Seafloor depth: -767.394465 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.74; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.61; MB_Bottom_Detect_Filter_Max_Range = 210.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 109.614933 meters # Minimum depth: 766.366813 meters looking forward 100.000000 meters along route # Maximum depth: 769.912230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.366813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335898; longitude = -118.121773; captureRadius = 10; duration = 219; initialDepth = 718.324424; finalDepth = 716.366813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.906334 # Actual altitude: 50.906334 # Commanded vehicle depth: 716.366813 # Seafloor depth: -766.509348 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.63; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.54; MB_Bottom_Detect_Filter_Max_Range = 203.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.026365 meters # Minimum depth: 768.324424 meters looking forward 100.000000 meters along route # Maximum depth: 772.013720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.324424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336304; longitude = -118.120699; captureRadius = 10; duration = 208; initialDepth = 717.181755; finalDepth = 718.324424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.459471 # Actual altitude: 50.459471 # Commanded vehicle depth: 718.324424 # Seafloor depth: -768.783895 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.84; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.28; MB_Bottom_Detect_Filter_Max_Range = 201.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.240769 meters # Minimum depth: 767.181755 meters looking forward 100.000000 meters along route # Maximum depth: 776.007498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.181755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336689; longitude = -118.119680; captureRadius = 10; duration = 208; initialDepth = 726.830522; finalDepth = 717.181755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.464685 # Actual altitude: 51.464685 # Commanded vehicle depth: 717.181755 # Seafloor depth: -768.646440 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.86; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.88; MB_Bottom_Detect_Filter_Max_Range = 205.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 109.613629 meters # Minimum depth: 776.830522 meters looking forward 100.000000 meters along route # Maximum depth: 781.410669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 726.830522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337075; longitude = -118.118658; captureRadius = 10; duration = 219; initialDepth = 733.494254; finalDepth = 726.830522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.464685 # Actual altitude: 51.464685 # Commanded vehicle depth: 726.830522 # Seafloor depth: -776.830522 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 205.86; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.88; MB_Bottom_Detect_Filter_Max_Range = 205.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 105.282341 meters # Minimum depth: 783.494254 meters looking forward 100.000000 meters along route # Maximum depth: 793.846899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 733.494254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337480; longitude = -118.117585; captureRadius = 10; duration = 210; initialDepth = 744.718770; finalDepth = 733.494254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 733.494254 # Seafloor depth: -783.494254 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.982315 meters # Minimum depth: 794.718770 meters looking forward 100.000000 meters along route # Maximum depth: 800.966631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.718770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337870; longitude = -118.116553; captureRadius = 10; duration = 205; initialDepth = 751.585170; finalDepth = 744.718770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 744.71877 # Seafloor depth: -794.718770 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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: 801.585170 meters looking forward 100.000000 meters along route # Maximum depth: 804.510640 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.585170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338251; longitude = -118.115544; captureRadius = 10; duration = 202; initialDepth = 745.976966; finalDepth = 751.585170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.297672 # Actual altitude: 51.297672 # Commanded vehicle depth: 751.58517 # Seafloor depth: -802.882842 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 205.19; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.78; MB_Bottom_Detect_Filter_Max_Range = 205.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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: 795.976966 meters looking forward 100.000000 meters along route # Maximum depth: 804.930328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.976966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338626; longitude = -118.114552; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 735.568255; finalDepth = 745.976966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 58.9533620000001 # Actual altitude: 58.9533620000001 # Commanded vehicle depth: 745.976966 # Seafloor depth: -804.930328 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 235.81; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.37; MB_Bottom_Detect_Filter_Max_Range = 235.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.81; 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: 785.568255 meters looking forward 100.000000 meters along route # Maximum depth: 795.170197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.568255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337392; longitude = -118.113891; captureRadius = 10; duration = 227; # abortOnTimeout = True; initialDepth = 727.743621; finalDepth = 735.568255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.601942 # Actual altitude: 59.601942 # Commanded vehicle depth: 735.568255 # Seafloor depth: -795.170197 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 238.41; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.76; MB_Bottom_Detect_Filter_Max_Range = 238.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.116517 meters # Minimum depth: 777.743621 meters looking forward 100.000000 meters along route # Maximum depth: 784.901231 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 727.743621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336970; longitude = -118.115007; captureRadius = 10; duration = 210; initialDepth = 727.860486; finalDepth = 727.743621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.601942 # Actual altitude: 59.601942 # Commanded vehicle depth: 727.743621 # Seafloor depth: -784.901231 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 238.41; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.76; MB_Bottom_Detect_Filter_Max_Range = 238.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 103.150641 meters # Minimum depth: 777.860486 meters looking forward 100.000000 meters along route # Maximum depth: 780.657635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 727.860486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336581; longitude = -118.116037; captureRadius = 10; duration = 206; initialDepth = 727.926392; finalDepth = 727.860486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1576100000001 # Actual altitude: 57.1576100000001 # Commanded vehicle depth: 727.860486 # Seafloor depth: -778.416663 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 228.63; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.29; MB_Bottom_Detect_Filter_Max_Range = 228.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 109.614945 meters # Minimum depth: 777.926392 meters looking forward 100.000000 meters along route # Maximum depth: 779.463873 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 727.926392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336199; longitude = -118.117048; captureRadius = 10; duration = 219; initialDepth = 722.668108; finalDepth = 727.926392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.006555 # Actual altitude: 51.006555 # Commanded vehicle depth: 727.926392 # Seafloor depth: -778.932947 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.03; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.60; MB_Bottom_Detect_Filter_Max_Range = 204.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 106.375012 meters # Minimum depth: 772.668108 meters looking forward 100.000000 meters along route # Maximum depth: 777.790285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.668108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335794; longitude = -118.118121; captureRadius = 10; duration = 212; initialDepth = 720.992846; finalDepth = 722.668108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1221770000001 # Actual altitude: 55.1221770000001 # Commanded vehicle depth: 722.668108 # Seafloor depth: -777.790285 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.49; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.07; MB_Bottom_Detect_Filter_Max_Range = 220.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 101.894624 meters # Minimum depth: 770.992846 meters looking forward 100.000000 meters along route # Maximum depth: 776.736252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.992846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335400; longitude = -118.119164; captureRadius = 10; duration = 203; initialDepth = 718.907579; finalDepth = 720.992846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1221770000001 # Actual altitude: 55.1221770000001 # Commanded vehicle depth: 720.992846 # Seafloor depth: -775.167511 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.49; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.07; MB_Bottom_Detect_Filter_Max_Range = 220.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 109.616249 meters # Minimum depth: 768.907579 meters looking forward 100.000000 meters along route # Maximum depth: 772.037637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.907579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335023; longitude = -118.120162; captureRadius = 10; duration = 219; initialDepth = 716.117331; finalDepth = 718.907579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.174665 # Actual altitude: 54.174665 # Commanded vehicle depth: 718.907579 # Seafloor depth: -772.037637 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.70; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.50; MB_Bottom_Detect_Filter_Max_Range = 216.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.633537 meters # Minimum depth: 766.117331 meters looking forward 100.000000 meters along route # Maximum depth: 770.696013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.117331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334617; longitude = -118.121236; captureRadius = 10; duration = 215; initialDepth = 716.207466; finalDepth = 716.117331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.578682 # Actual altitude: 54.578682 # Commanded vehicle depth: 716.117331 # Seafloor depth: -770.696013 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.31; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.75; MB_Bottom_Detect_Filter_Max_Range = 218.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.638576 meters # Minimum depth: 766.207466 meters looking forward 100.000000 meters along route # Maximum depth: 768.685301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.207466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334219; longitude = -118.122291; captureRadius = 10; duration = 201; initialDepth = 712.335542; finalDepth = 716.207466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.578682 # Actual altitude: 54.578682 # Commanded vehicle depth: 716.207466 # Seafloor depth: -766.249269 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.31; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.75; MB_Bottom_Detect_Filter_Max_Range = 218.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.455306 meters # Minimum depth: 762.335542 meters looking forward 100.000000 meters along route # Maximum depth: 767.393357 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.335542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333846; longitude = -118.123277; captureRadius = 10; duration = 204; initialDepth = 710.110400; finalDepth = 712.335542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.057815 # Actual altitude: 55.057815 # Commanded vehicle depth: 712.335542 # Seafloor depth: -767.393357 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.23; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.03; MB_Bottom_Detect_Filter_Max_Range = 220.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 105.818431 meters # Minimum depth: 760.110400 meters looking forward 100.000000 meters along route # Maximum depth: 762.093133 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.110400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333467; longitude = -118.124280; captureRadius = 10; duration = 211; initialDepth = 699.621131; finalDepth = 710.110400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.057815 # Actual altitude: 55.057815 # Commanded vehicle depth: 710.1104 # Seafloor depth: -762.093133 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.23; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.03; MB_Bottom_Detect_Filter_Max_Range = 220.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 109.618409 meters # Minimum depth: 749.621131 meters looking forward 100.000000 meters along route # Maximum depth: 758.951411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.621131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333075; longitude = -118.125317; captureRadius = 10; duration = 219; initialDepth = 694.303008; finalDepth = 699.621131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.33028 # Actual altitude: 59.33028 # Commanded vehicle depth: 699.621131 # Seafloor depth: -758.951411 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 237.32; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.60; MB_Bottom_Detect_Filter_Max_Range = 237.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 103.713808 meters # Minimum depth: 744.303008 meters looking forward 100.000000 meters along route # Maximum depth: 748.827968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.303008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332669; longitude = -118.126391; captureRadius = 10; duration = 207; initialDepth = 691.252144; finalDepth = 694.303008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.33028 # Actual altitude: 59.33028 # Commanded vehicle depth: 694.303008 # Seafloor depth: -748.827968 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 237.32; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.60; MB_Bottom_Detect_Filter_Max_Range = 237.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.562407 meters # Minimum depth: 741.252144 meters looking forward 100.000000 meters along route # Maximum depth: 744.424293 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.252144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332285; longitude = -118.127407; captureRadius = 10; duration = 209; initialDepth = 692.706499; finalDepth = 691.252144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5249600000001 # Actual altitude: 54.5249600000001 # Commanded vehicle depth: 691.252144 # Seafloor depth: -744.403513 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.10; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.71; MB_Bottom_Detect_Filter_Max_Range = 218.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 109.619713 meters # Minimum depth: 742.706499 meters looking forward 100.000000 meters along route # Maximum depth: 746.551310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.706499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.331898; longitude = -118.128432; captureRadius = 10; duration = 219; initialDepth = 693.975881; finalDepth = 692.706499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1513689999999 # Actual altitude: 53.1513689999999 # Commanded vehicle depth: 692.706499 # Seafloor depth: -744.983877 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.61; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.89; MB_Bottom_Detect_Filter_Max_Range = 212.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.972342 meters # Minimum depth: 743.975881 meters looking forward 100.000000 meters along route # Maximum depth: 746.691326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.975881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.331493; longitude = -118.129505; captureRadius = 10; duration = 209; initialDepth = 689.843118; finalDepth = 693.975881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.715445 # Actual altitude: 52.715445 # Commanded vehicle depth: 693.975881 # Seafloor depth: -746.691326 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.86; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.63; MB_Bottom_Detect_Filter_Max_Range = 210.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 103.306353 meters # Minimum depth: 739.843118 meters looking forward 100.000000 meters along route # Maximum depth: 743.707523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.843118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.331104; longitude = -118.130534; captureRadius = 10; duration = 206; initialDepth = 691.729697; finalDepth = 689.843118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.864405 # Actual altitude: 53.864405 # Commanded vehicle depth: 689.843118 # Seafloor depth: -743.707523 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 215.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.32; MB_Bottom_Detect_Filter_Max_Range = 215.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 109.621018 meters # Minimum depth: 741.729697 meters looking forward 100.000000 meters along route # Maximum depth: 747.727554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.729697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.330722; longitude = -118.131546; captureRadius = 10; duration = 219; initialDepth = 694.920482; finalDepth = 691.729697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.864405 # Actual altitude: 53.864405 # Commanded vehicle depth: 691.729697 # Seafloor depth: -743.902339 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 215.46; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.32; MB_Bottom_Detect_Filter_Max_Range = 215.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 106.230905 meters # Minimum depth: 744.920482 meters looking forward 100.000000 meters along route # Maximum depth: 747.843801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.920482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.330316; longitude = -118.132620; captureRadius = 10; duration = 212; initialDepth = 696.201667; finalDepth = 694.920482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.172642 # Actual altitude: 52.172642 # Commanded vehicle depth: 694.920482 # Seafloor depth: -744.920482 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.69; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.30; MB_Bottom_Detect_Filter_Max_Range = 208.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.050268 meters # Minimum depth: 746.201667 meters looking forward 100.000000 meters along route # Maximum depth: 748.784416 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.201667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.329923; longitude = -118.133661; captureRadius = 10; duration = 204; initialDepth = 694.705409; finalDepth = 696.201667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 696.201667 # Seafloor depth: -746.201667 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 101.052439 meters # Minimum depth: 744.705409 meters looking forward 100.000000 meters along route # Maximum depth: 749.223049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.705409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.329545; longitude = -118.134660; captureRadius = 10; duration = 202; initialDepth = 697.381742; finalDepth = 694.705409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.624064 # Actual altitude: 52.624064 # Commanded vehicle depth: 694.705409 # Seafloor depth: -747.329473 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.50; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.57; 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 7 # Segment length 107.230360 meters # Minimum depth: 747.381742 meters looking forward 100.000000 meters along route # Maximum depth: 749.955073 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.381742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.329171; longitude = -118.135650; captureRadius = 10; duration = 214; initialDepth = 697.841538; finalDepth = 697.381742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.624064 # Actual altitude: 52.624064 # Commanded vehicle depth: 697.381742 # Seafloor depth: -749.377870 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.50; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.57; 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 7 # Segment length 100.235819 meters # Minimum depth: 747.841538 meters looking forward 100.000000 meters along route # Maximum depth: 751.815266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.841538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.328774; longitude = -118.136701; captureRadius = 10; duration = 200; initialDepth = 698.865721; finalDepth = 697.841538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.996128 # Actual altitude: 51.996128 # Commanded vehicle depth: 697.841538 # Seafloor depth: -749.418199 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 207.98; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.20; MB_Bottom_Detect_Filter_Max_Range = 207.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 149.961549 meters # Minimum depth: 748.865721 meters looking forward 100.000000 meters along route # Maximum depth: 751.216156 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.865721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.328403; longitude = -118.137683; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 698.090639; finalDepth = 698.865721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 52.3504349999999 # Actual altitude: 52.3504349999999 # Commanded vehicle depth: 698.865721 # Seafloor depth: -751.216156 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 209.40; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.41; MB_Bottom_Detect_Filter_Max_Range = 209.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 105.360457 meters # Minimum depth: 748.090639 meters looking forward 100.000000 meters along route # Maximum depth: 749.849579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.090639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.327170; longitude = -118.137021; captureRadius = 10; duration = 210; # abortOnTimeout = True; initialDepth = 697.559482; finalDepth = 698.090639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3504349999999 # Actual altitude: 52.3504349999999 # Commanded vehicle depth: 698.090639 # Seafloor depth: -749.849579 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.40; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.41; MB_Bottom_Detect_Filter_Max_Range = 209.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 102.701565 meters # Minimum depth: 747.559482 meters looking forward 100.000000 meters along route # Maximum depth: 749.005942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.559482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.327560; longitude = -118.135989; captureRadius = 10; duration = 205; initialDepth = 696.128477; finalDepth = 697.559482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7589399999999 # Actual altitude: 51.7589399999999 # Commanded vehicle depth: 697.559482 # Seafloor depth: -748.513249 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.04; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.06; MB_Bottom_Detect_Filter_Max_Range = 207.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 109.623549 meters # Minimum depth: 746.128477 meters looking forward 100.000000 meters along route # Maximum depth: 750.065984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.128477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.327940; longitude = -118.134983; captureRadius = 10; duration = 219; initialDepth = 694.901230; finalDepth = 696.128477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.937507 # Actual altitude: 53.937507 # Commanded vehicle depth: 696.128477 # Seafloor depth: -750.065984 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 215.75; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.36; MB_Bottom_Detect_Filter_Max_Range = 215.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 106.840487 meters # Minimum depth: 744.901230 meters looking forward 100.000000 meters along route # Maximum depth: 749.332386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.901230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.328346; longitude = -118.133909; captureRadius = 10; duration = 213; initialDepth = 696.320941; finalDepth = 694.901230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.937507 # Actual altitude: 53.937507 # Commanded vehicle depth: 694.90123 # Seafloor depth: -746.686581 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 215.75; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.36; MB_Bottom_Detect_Filter_Max_Range = 215.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 101.443015 meters # Minimum depth: 746.320941 meters looking forward 100.000000 meters along route # Maximum depth: 748.623298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.320941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.328741; longitude = -118.132862; captureRadius = 10; duration = 202; initialDepth = 696.035989; finalDepth = 696.320941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.785351 # Actual altitude: 51.785351 # Commanded vehicle depth: 696.320941 # Seafloor depth: -746.320941 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.14; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.07; MB_Bottom_Detect_Filter_Max_Range = 207.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 109.622243 meters # Minimum depth: 746.035989 meters looking forward 100.000000 meters along route # Maximum depth: 747.686126 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.035989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.329117; longitude = -118.131868; captureRadius = 10; duration = 219; initialDepth = 690.528685; finalDepth = 696.035989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.650137 # Actual altitude: 51.650137 # Commanded vehicle depth: 696.035989 # Seafloor depth: -747.686126 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.60; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.99; MB_Bottom_Detect_Filter_Max_Range = 206.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 108.096529 meters # Minimum depth: 740.528685 meters looking forward 100.000000 meters along route # Maximum depth: 746.548211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.528685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.329523; longitude = -118.130794; captureRadius = 10; duration = 216; initialDepth = 689.576831; finalDepth = 690.528685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.0061450000001 # Actual altitude: 56.0061450000001 # Commanded vehicle depth: 690.528685 # Seafloor depth: -746.534830 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 224.02; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.60; MB_Bottom_Detect_Filter_Max_Range = 224.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.184495 meters # Minimum depth: 739.576831 meters looking forward 100.000000 meters along route # Maximum depth: 745.373809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.576831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.329923; longitude = -118.129735; captureRadius = 10; duration = 200; initialDepth = 694.294299; finalDepth = 689.576831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.0061450000001 # Actual altitude: 56.0061450000001 # Commanded vehicle depth: 689.576831 # Seafloor depth: -739.634732 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 224.02; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.60; MB_Bottom_Detect_Filter_Max_Range = 224.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 102.916475 meters # Minimum depth: 744.294299 meters looking forward 100.000000 meters along route # Maximum depth: 748.470901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.294299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.330294; longitude = -118.128754; captureRadius = 10; duration = 205; initialDepth = 691.732586; finalDepth = 694.294299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.052223 # Actual altitude: 51.052223 # Commanded vehicle depth: 694.294299 # Seafloor depth: -745.346522 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.21; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.63; MB_Bottom_Detect_Filter_Max_Range = 204.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.362924 meters # Minimum depth: 741.732586 meters looking forward 100.000000 meters along route # Maximum depth: 744.467208 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.732586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.330674; longitude = -118.127745; captureRadius = 10; duration = 210; initialDepth = 692.018276; finalDepth = 691.732586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7346220000001 # Actual altitude: 52.7346220000001 # Commanded vehicle depth: 691.732586 # Seafloor depth: -744.467208 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.94; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.64; MB_Bottom_Detect_Filter_Max_Range = 210.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 109.620084 meters # Minimum depth: 742.018276 meters looking forward 100.000000 meters along route # Maximum depth: 744.194612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.018276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.331064; longitude = -118.126713; captureRadius = 10; duration = 219; initialDepth = 694.282724; finalDepth = 692.018276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7346220000001 # Actual altitude: 52.7346220000001 # Commanded vehicle depth: 692.018276 # Seafloor depth: -742.751513 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.94; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.64; MB_Bottom_Detect_Filter_Max_Range = 210.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.172538 meters # Minimum depth: 744.282724 meters looking forward 100.000000 meters along route # Maximum depth: 751.480498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.282724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.331470; longitude = -118.125639; captureRadius = 10; duration = 208; initialDepth = 701.976974; finalDepth = 694.282724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.733237 # Actual altitude: 50.733237 # Commanded vehicle depth: 694.282724 # Seafloor depth: -744.282724 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.93; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.44; 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 5 # Segment length 104.104382 meters # Minimum depth: 751.976974 meters looking forward 100.000000 meters along route # Maximum depth: 757.101278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.976974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.331856; longitude = -118.124619; captureRadius = 10; duration = 208; initialDepth = 707.651403; finalDepth = 701.976974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 701.976974 # Seafloor depth: -751.976974 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.618780 meters # Minimum depth: 757.651403 meters looking forward 100.000000 meters along route # Maximum depth: 765.042419 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.651403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332241; longitude = -118.123599; captureRadius = 10; duration = 219; initialDepth = 715.442234; finalDepth = 707.651403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 707.651403 # Seafloor depth: -757.651403 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.428572 meters # Minimum depth: 765.442234 meters looking forward 100.000000 meters along route # Maximum depth: 766.833459 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.442234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332647; longitude = -118.122525; captureRadius = 10; duration = 210; initialDepth = 715.780403; finalDepth = 715.442234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.031794 # Actual altitude: 50.031794 # Commanded vehicle depth: 715.442234 # Seafloor depth: -765.474028 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.13; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.02; MB_Bottom_Detect_Filter_Max_Range = 200.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 102.845870 meters # Minimum depth: 765.780403 meters looking forward 100.000000 meters along route # Maximum depth: 768.413566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.780403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333037; longitude = -118.121492; captureRadius = 10; duration = 205; initialDepth = 718.068263; finalDepth = 715.780403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.031794 # Actual altitude: 50.031794 # Commanded vehicle depth: 715.780403 # Seafloor depth: -765.780403 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.13; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.02; MB_Bottom_Detect_Filter_Max_Range = 200.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 109.617476 meters # Minimum depth: 768.068263 meters looking forward 100.000000 meters along route # Maximum depth: 770.698065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.068263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333418; longitude = -118.120484; captureRadius = 10; duration = 219; initialDepth = 719.522224; finalDepth = 718.068263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 718.068263 # Seafloor depth: -768.068263 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.684576 meters # Minimum depth: 769.522224 meters looking forward 100.000000 meters along route # Maximum depth: 774.543426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.522224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333824; longitude = -118.119410; captureRadius = 10; duration = 213; initialDepth = 723.118810; finalDepth = 719.522224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6135399999999 # Actual altitude: 52.6135399999999 # Commanded vehicle depth: 719.522224 # Seafloor depth: -772.135764 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.45; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.57; MB_Bottom_Detect_Filter_Max_Range = 210.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 101.587389 meters # Minimum depth: 773.118810 meters looking forward 100.000000 meters along route # Maximum depth: 775.247193 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.118810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334219; longitude = -118.118365; captureRadius = 10; duration = 203; initialDepth = 723.747741; finalDepth = 723.118810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6135399999999 # Actual altitude: 52.6135399999999 # Commanded vehicle depth: 723.11881 # Seafloor depth: -774.708927 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 210.45; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.57; MB_Bottom_Detect_Filter_Max_Range = 210.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 109.616171 meters # Minimum depth: 773.747741 meters looking forward 100.000000 meters along route # Maximum depth: 780.252884 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.747741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334595; longitude = -118.117370; captureRadius = 10; duration = 219; initialDepth = 727.902014; finalDepth = 723.747741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.590117 # Actual altitude: 51.590117 # Commanded vehicle depth: 723.747741 # Seafloor depth: -773.747741 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.36; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.95; MB_Bottom_Detect_Filter_Max_Range = 206.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.940551 meters # Minimum depth: 777.902014 meters looking forward 100.000000 meters along route # Maximum depth: 784.334819 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 727.902014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335000; longitude = -118.116296; captureRadius = 10; duration = 215; initialDepth = 730.680010; finalDepth = 727.902014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.824046 # Actual altitude: 51.824046 # Commanded vehicle depth: 727.902014 # Seafloor depth: -779.726060 # behavior reson { duration = 6; 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 = 31.09; 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 5 # Segment length 100.328937 meters # Minimum depth: 780.680010 meters looking forward 100.000000 meters along route # Maximum depth: 784.086860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 730.680010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335400; longitude = -118.115238; captureRadius = 10; duration = 200; initialDepth = 731.717221; finalDepth = 730.680010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.40685 # Actual altitude: 53.40685 # Commanded vehicle depth: 730.68001 # Seafloor depth: -784.086860 # behavior reson { duration = 6; 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 = 32.04; 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 5 # Segment length 104.743921 meters # Minimum depth: 781.717221 meters looking forward 100.000000 meters along route # Maximum depth: 784.371147 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.717221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335771; longitude = -118.114255; captureRadius = 10; duration = 209; initialDepth = 732.116888; finalDepth = 731.717221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.40685 # Actual altitude: 53.40685 # Commanded vehicle depth: 731.717221 # Seafloor depth: -781.985940 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; 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 = 32.04; 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; } # ####################################################### # # 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 121.550259 meters # Minimum depth: 782.116888 meters looking forward 100.000000 meters along route # Maximum depth: 784.284531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.116888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336159; longitude = -118.113229; captureRadius = 10; duration = 243; # abortOnTimeout = True; initialDepth = 732.623069; finalDepth = 732.116888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.167643 # Actual altitude: 52.167643 # Commanded vehicle depth: 732.116888 # Seafloor depth: -784.284531 # behavior reson { duration = 6; 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 = 31.30; 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 4 # Segment length 101.762682 meters # Minimum depth: 782.623069 meters looking forward 100.000000 meters along route # Maximum depth: 784.012540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 732.623069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335481; longitude = -118.114255; captureRadius = 10; duration = 203; initialDepth = 728.702279; finalDepth = 732.623069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.167643 # Actual altitude: 52.167643 # Commanded vehicle depth: 732.623069 # Seafloor depth: -783.025992 # behavior reson { duration = 6; 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 = 31.30; 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 4 # Segment length 101.763106 meters # Minimum depth: 778.702279 meters looking forward 100.000000 meters along route # Maximum depth: 783.289487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.702279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334913; longitude = -118.115114; captureRadius = 10; duration = 203; initialDepth = 722.128353; finalDepth = 728.702279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.587208 # Actual altitude: 54.587208 # Commanded vehicle depth: 728.702279 # Seafloor depth: -783.289487 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 218.35; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.75; MB_Bottom_Detect_Filter_Max_Range = 218.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.763532 meters # Minimum depth: 772.128353 meters looking forward 100.000000 meters along route # Maximum depth: 777.144218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.128353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334346; longitude = -118.115974; captureRadius = 10; duration = 203; initialDepth = 722.194921; finalDepth = 722.128353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0158650000001 # Actual altitude: 55.0158650000001 # Commanded vehicle depth: 722.128353 # Seafloor depth: -777.144218 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.06; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.01; MB_Bottom_Detect_Filter_Max_Range = 220.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.763957 meters # Minimum depth: 772.194921 meters looking forward 100.000000 meters along route # Maximum depth: 774.872140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.194921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333778; longitude = -118.116833; captureRadius = 10; duration = 203; initialDepth = 718.499513; finalDepth = 722.194921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0158650000001 # Actual altitude: 55.0158650000001 # Commanded vehicle depth: 722.194921 # Seafloor depth: -772.194921 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 220.06; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.01; MB_Bottom_Detect_Filter_Max_Range = 220.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.764382 meters # Minimum depth: 768.499513 meters looking forward 100.000000 meters along route # Maximum depth: 773.732431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.499513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333211; longitude = -118.117692; captureRadius = 10; duration = 203; initialDepth = 719.368230; finalDepth = 718.499513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.34873 # Actual altitude: 54.34873 # Commanded vehicle depth: 718.499513 # Seafloor depth: -772.848243 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 217.39; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.61; MB_Bottom_Detect_Filter_Max_Range = 217.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 102.609762 meters # Minimum depth: 769.368230 meters looking forward 100.000000 meters along route # Maximum depth: 770.182111 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.368230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332643; longitude = -118.118551; captureRadius = 10; duration = 205; initialDepth = 716.143043; finalDepth = 719.368230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.34873 # Actual altitude: 54.34873 # Commanded vehicle depth: 719.36823 # Seafloor depth: -769.633307 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 217.39; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.61; MB_Bottom_Detect_Filter_Max_Range = 217.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.226567 meters # Minimum depth: 766.143043 meters looking forward 100.000000 meters along route # Maximum depth: 770.084585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.143043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332071; longitude = -118.119417; captureRadius = 10; duration = 202; initialDepth = 715.496124; finalDepth = 716.143043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 53.9415419999999 # Actual altitude: 53.9415419999999 # Commanded vehicle depth: 716.143043 # Seafloor depth: -770.084585 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 215.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.36; MB_Bottom_Detect_Filter_Max_Range = 215.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.77; 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: 765.496124 meters looking forward 100.000000 meters along route # Maximum depth: 771.329762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.496124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.331506; longitude = -118.120272; captureRadius = 10; duration = 320; # abortOnTimeout = True; initialDepth = 717.109192; finalDepth = 715.496124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9415419999999 # Actual altitude: 53.9415419999999 # Commanded vehicle depth: 715.496124 # Seafloor depth: -765.496124 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 215.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.36; MB_Bottom_Detect_Filter_Max_Range = 215.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.77; 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: 767.109192 meters looking forward 100.000000 meters along route # Maximum depth: 770.632580 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.109192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332822; longitude = -118.120978; captureRadius = 10; duration = 214; initialDepth = 714.611020; finalDepth = 717.109192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.477679 # Actual altitude: 52.477679 # Commanded vehicle depth: 717.109192 # Seafloor depth: -769.586871 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.91; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.49; MB_Bottom_Detect_Filter_Max_Range = 209.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.796970 meters # Minimum depth: 764.611020 meters looking forward 100.000000 meters along route # Maximum depth: 770.971006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.611020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333704; longitude = -118.121451; captureRadius = 10; duration = 203; initialDepth = 714.525622; finalDepth = 714.611020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.138925 # Actual altitude: 56.138925 # Commanded vehicle depth: 714.61102 # Seafloor depth: -770.749945 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 224.56; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.68; MB_Bottom_Detect_Filter_Max_Range = 224.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 104.476446 meters # Minimum depth: 764.525622 meters looking forward 100.000000 meters along route # Maximum depth: 768.528482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.525622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334541; longitude = -118.121900; captureRadius = 10; duration = 208; initialDepth = 716.009996; finalDepth = 714.525622; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.138925 # Actual altitude: 56.138925 # Commanded vehicle depth: 714.525622 # Seafloor depth: -764.525622 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 224.56; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.68; MB_Bottom_Detect_Filter_Max_Range = 224.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 104.476295 meters # Minimum depth: 766.009996 meters looking forward 100.000000 meters along route # Maximum depth: 769.394122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.009996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335400; longitude = -118.122361; captureRadius = 10; duration = 208; initialDepth = 720.454328; finalDepth = 716.009996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 716.009996 # Seafloor depth: -766.009996 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.476146 meters # Minimum depth: 770.454328 meters looking forward 100.000000 meters along route # Maximum depth: 775.197787 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.454328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336259; longitude = -118.122822; captureRadius = 10; duration = 208; initialDepth = 719.683963; finalDepth = 720.454328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2808229999999 # Actual altitude: 50.2808229999999 # Commanded vehicle depth: 720.454328 # Seafloor depth: -770.735151 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.12; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.17; MB_Bottom_Detect_Filter_Max_Range = 201.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 104.475997 meters # Minimum depth: 769.683963 meters looking forward 100.000000 meters along route # Maximum depth: 775.192156 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.683963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337118; longitude = -118.123282; captureRadius = 10; duration = 208; initialDepth = 718.215923; finalDepth = 719.683963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.508193 # Actual altitude: 55.508193 # Commanded vehicle depth: 719.683963 # Seafloor depth: -775.192156 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.03; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.30; MB_Bottom_Detect_Filter_Max_Range = 222.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 104.475847 meters # Minimum depth: 768.215923 meters looking forward 100.000000 meters along route # Maximum depth: 772.887828 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.215923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337977; longitude = -118.123743; captureRadius = 10; duration = 208; initialDepth = 717.586988; finalDepth = 718.215923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.508193 # Actual altitude: 55.508193 # Commanded vehicle depth: 718.215923 # Seafloor depth: -771.509595 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.03; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.30; MB_Bottom_Detect_Filter_Max_Range = 222.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.229684 meters # Minimum depth: 767.586988 meters looking forward 100.000000 meters along route # Maximum depth: 773.973083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.586988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338837; longitude = -118.124204; captureRadius = 10; duration = 212; initialDepth = 724.125082; finalDepth = 717.586988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.293672 # Actual altitude: 53.293672 # Commanded vehicle depth: 717.586988 # Seafloor depth: -767.729964 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.17; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.98; MB_Bottom_Detect_Filter_Max_Range = 213.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 102.721561 meters # Minimum depth: 774.125082 meters looking forward 100.000000 meters along route # Maximum depth: 793.423592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.125082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339710; longitude = -118.124673; captureRadius = 10; duration = 205; initialDepth = 744.356468; finalDepth = 724.125082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.142976 # Actual altitude: 50.142976 # Commanded vehicle depth: 724.125082 # Seafloor depth: -774.125082 # behavior reson { duration = 6; 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 = 30.09; 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 104.475398 meters # Minimum depth: 794.356468 meters looking forward 100.000000 meters along route # Maximum depth: 808.686584 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.356468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340555; longitude = -118.125126; captureRadius = 10; duration = 208; initialDepth = 756.641342; finalDepth = 744.356468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 744.356468 # Seafloor depth: -794.356468 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.475249 meters # Minimum depth: 806.641342 meters looking forward 100.000000 meters along route # Maximum depth: 809.136275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 756.641342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341414; longitude = -118.125587; captureRadius = 10; duration = 208; initialDepth = 754.133632; finalDepth = 756.641342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4949329999999 # Actual altitude: 52.4949329999999 # Commanded vehicle depth: 756.641342 # Seafloor depth: -809.136275 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.98; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.50; MB_Bottom_Detect_Filter_Max_Range = 209.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 104.475099 meters # Minimum depth: 804.133632 meters looking forward 100.000000 meters along route # Maximum depth: 808.404931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 754.133632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342273; longitude = -118.126047; captureRadius = 10; duration = 208; initialDepth = 755.120104; finalDepth = 754.133632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4949329999999 # Actual altitude: 52.4949329999999 # Commanded vehicle depth: 754.133632 # Seafloor depth: -805.676085 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 209.98; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.50; MB_Bottom_Detect_Filter_Max_Range = 209.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 104.474949 meters # Minimum depth: 805.120104 meters looking forward 100.000000 meters along route # Maximum depth: 806.428092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.120104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343132; longitude = -118.126508; captureRadius = 10; duration = 208; initialDepth = 749.474524; finalDepth = 755.120104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5424529999999 # Actual altitude: 51.5424529999999 # Commanded vehicle depth: 755.120104 # Seafloor depth: -806.315052 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.17; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.93; MB_Bottom_Detect_Filter_Max_Range = 206.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 104.474800 meters # Minimum depth: 799.474524 meters looking forward 100.000000 meters along route # Maximum depth: 805.332600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 749.474524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343992; longitude = -118.126969; captureRadius = 10; duration = 208; initialDepth = 747.345895; finalDepth = 749.474524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.705406 # Actual altitude: 55.705406 # Commanded vehicle depth: 749.474524 # Seafloor depth: -805.179930 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.82; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.42; MB_Bottom_Detect_Filter_Max_Range = 222.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 105.303019 meters # Minimum depth: 797.345895 meters looking forward 100.000000 meters along route # Maximum depth: 806.453988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.345895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344851; longitude = -118.127430; captureRadius = 10; duration = 210; initialDepth = 753.949991; finalDepth = 747.345895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.705406 # Actual altitude: 55.705406 # Commanded vehicle depth: 747.345895 # Seafloor depth: -798.892685 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 222.82; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.42; MB_Bottom_Detect_Filter_Max_Range = 222.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 103.646133 meters # Minimum depth: 803.949991 meters looking forward 100.000000 meters along route # Maximum depth: 805.678842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.949991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345717; longitude = -118.127895; captureRadius = 10; duration = 207; initialDepth = 751.633729; finalDepth = 753.949991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7288510000001 # Actual altitude: 51.7288510000001 # Commanded vehicle depth: 753.949991 # Seafloor depth: -805.678842 # behavior reson { duration = 6; 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 = 31.04; 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 3 # Segment length 104.474351 meters # Minimum depth: 801.633729 meters looking forward 100.000000 meters along route # Maximum depth: 803.881705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 751.633729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346569; longitude = -118.128352; captureRadius = 10; duration = 208; initialDepth = 750.019642; finalDepth = 751.633729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.247976 # Actual altitude: 52.247976 # Commanded vehicle depth: 751.633729 # Seafloor depth: -803.881705 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.99; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.35; MB_Bottom_Detect_Filter_Max_Range = 208.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 108.383945 meters # Minimum depth: 800.019642 meters looking forward 100.000000 meters along route # Maximum depth: 804.002477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.019642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347428; longitude = -118.128813; captureRadius = 10; duration = 216; initialDepth = 747.957137; finalDepth = 750.019642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4661630000001 # Actual altitude: 53.4661630000001 # Commanded vehicle depth: 750.019642 # Seafloor depth: -803.485805 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.86; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.08; MB_Bottom_Detect_Filter_Max_Range = 213.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.564309 meters # Minimum depth: 797.957137 meters looking forward 100.000000 meters along route # Maximum depth: 799.854940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.957137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348320; longitude = -118.129291; captureRadius = 10; duration = 201; initialDepth = 749.209334; finalDepth = 747.957137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4661630000001 # Actual altitude: 53.4661630000001 # Commanded vehicle depth: 747.957137 # Seafloor depth: -799.854940 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 213.86; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.08; MB_Bottom_Detect_Filter_Max_Range = 213.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 104.473903 meters # Minimum depth: 799.209334 meters looking forward 100.000000 meters along route # Maximum depth: 801.168966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 749.209334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349147; longitude = -118.129734; captureRadius = 10; duration = 208; initialDepth = 746.988861; finalDepth = 749.209334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8978030000001 # Actual altitude: 51.8978030000001 # Commanded vehicle depth: 749.209334 # Seafloor depth: -800.095599 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.59; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.14; MB_Bottom_Detect_Filter_Max_Range = 207.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 104.473753 meters # Minimum depth: 796.988861 meters looking forward 100.000000 meters along route # Maximum depth: 802.664021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 746.988861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350006; longitude = -118.130195; captureRadius = 10; duration = 208; initialDepth = 742.385425; finalDepth = 746.988861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.593311 # Actual altitude: 52.593311 # Commanded vehicle depth: 746.988861 # Seafloor depth: -799.582172 # behavior reson { duration = 6; 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 = 31.56; 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 3 # Segment length 104.473603 meters # Minimum depth: 792.385425 meters looking forward 100.000000 meters along route # Maximum depth: 798.683890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.385425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350865; longitude = -118.130656; captureRadius = 10; duration = 208; initialDepth = 747.185301; finalDepth = 742.385425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.593311 # Actual altitude: 52.593311 # Commanded vehicle depth: 742.385425 # Seafloor depth: -794.504849 # behavior reson { duration = 6; 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 = 31.56; 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 3 # Segment length 104.473454 meters # Minimum depth: 797.185301 meters looking forward 100.000000 meters along route # Maximum depth: 801.530722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.185301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351724; longitude = -118.131117; captureRadius = 10; duration = 208; initialDepth = 743.081659; finalDepth = 747.185301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.119424 # Actual altitude: 52.119424 # Commanded vehicle depth: 747.185301 # Seafloor depth: -798.695223 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.48; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.27; MB_Bottom_Detect_Filter_Max_Range = 208.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 104.473305 meters # Minimum depth: 793.081659 meters looking forward 100.000000 meters along route # Maximum depth: 797.351782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.081659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352583; longitude = -118.131578; captureRadius = 10; duration = 208; initialDepth = 742.654253; finalDepth = 743.081659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2614540000001 # Actual altitude: 54.2614540000001 # Commanded vehicle depth: 743.081659 # Seafloor depth: -797.343113 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 217.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.56; MB_Bottom_Detect_Filter_Max_Range = 217.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.457271 meters # Minimum depth: 792.654253 meters looking forward 100.000000 meters along route # Maximum depth: 794.199116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.654253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353442; longitude = -118.132039; captureRadius = 10; duration = 214; initialDepth = 744.250818; finalDepth = 742.654253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2614540000001 # Actual altitude: 54.2614540000001 # Commanded vehicle depth: 742.654253 # Seafloor depth: -792.731211 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 217.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.56; MB_Bottom_Detect_Filter_Max_Range = 217.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.488889 meters # Minimum depth: 794.250818 meters looking forward 100.000000 meters along route # Maximum depth: 795.482980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.250818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354326; longitude = -118.132513; captureRadius = 10; duration = 202; initialDepth = 745.014233; finalDepth = 744.250818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.076958 # Actual altitude: 50.076958 # Commanded vehicle depth: 744.250818 # Seafloor depth: -794.250818 # behavior reson { duration = 6; 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 = 30.05; 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 3 # Segment length 104.472856 meters # Minimum depth: 795.014233 meters looking forward 100.000000 meters along route # Maximum depth: 795.489224 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.014233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355161; longitude = -118.132960; captureRadius = 10; duration = 208; initialDepth = 744.733381; finalDepth = 745.014233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.474991 # Actual altitude: 50.474991 # Commanded vehicle depth: 745.014233 # Seafloor depth: -795.489224 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.90; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.28; MB_Bottom_Detect_Filter_Max_Range = 201.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 104.472706 meters # Minimum depth: 794.733381 meters looking forward 100.000000 meters along route # Maximum depth: 794.973674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 744.733381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356020; longitude = -118.133421; captureRadius = 10; duration = 208; initialDepth = 743.701054; finalDepth = 744.733381; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.474991 # Actual altitude: 50.474991 # Commanded vehicle depth: 744.733381 # Seafloor depth: -794.973674 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 201.90; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.28; MB_Bottom_Detect_Filter_Max_Range = 201.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 104.472557 meters # Minimum depth: 793.701054 meters looking forward 100.000000 meters along route # Maximum depth: 794.646869 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.701054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356879; longitude = -118.133882; captureRadius = 10; duration = 208; initialDepth = 742.986595; finalDepth = 743.701054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.945815 # Actual altitude: 50.945815 # Commanded vehicle depth: 743.701054 # Seafloor depth: -794.646869 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.78; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.57; MB_Bottom_Detect_Filter_Max_Range = 203.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 104.472408 meters # Minimum depth: 792.986595 meters looking forward 100.000000 meters along route # Maximum depth: 793.691752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.986595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357738; longitude = -118.134343; captureRadius = 10; duration = 208; initialDepth = 742.374700; finalDepth = 742.986595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.945815 # Actual altitude: 50.945815 # Commanded vehicle depth: 742.986595 # Seafloor depth: -793.691752 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.78; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.57; MB_Bottom_Detect_Filter_Max_Range = 203.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 104.472257 meters # Minimum depth: 792.374700 meters looking forward 100.000000 meters along route # Maximum depth: 792.941432 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.374700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358597; longitude = -118.134804; captureRadius = 10; duration = 208; initialDepth = 741.190149; finalDepth = 742.374700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.705157 # Actual altitude: 50.705157 # Commanded vehicle depth: 742.3747 # Seafloor depth: -792.941432 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.82; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.42; MB_Bottom_Detect_Filter_Max_Range = 202.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.530617 meters # Minimum depth: 791.190149 meters looking forward 100.000000 meters along route # Maximum depth: 792.267665 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.190149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359457; longitude = -118.135265; captureRadius = 10; duration = 213; initialDepth = 739.966996; finalDepth = 741.190149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0775159999999 # Actual altitude: 51.0775159999999 # Commanded vehicle depth: 741.190149 # Seafloor depth: -792.267665 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.31; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.65; MB_Bottom_Detect_Filter_Max_Range = 204.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 102.413450 meters # Minimum depth: 789.966996 meters looking forward 100.000000 meters along route # Maximum depth: 791.165621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.966996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360333; longitude = -118.135734; captureRadius = 10; duration = 204; initialDepth = 723.475683; finalDepth = 739.966996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.198625 # Actual altitude: 51.198625 # Commanded vehicle depth: 739.966996 # Seafloor depth: -791.165621 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.72; MB_Bottom_Detect_Filter_Max_Range = 204.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 104.471810 meters # Minimum depth: 773.475683 meters looking forward 100.000000 meters along route # Maximum depth: 789.899764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.475683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361175; longitude = -118.136186; captureRadius = 10; duration = 208; initialDepth = 722.425470; finalDepth = 723.475683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.424081 # Actual altitude: 66.424081 # Commanded vehicle depth: 723.475683 # Seafloor depth: -789.899764 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 265.70; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.85; MB_Bottom_Detect_Filter_Max_Range = 265.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 104.471659 meters # Minimum depth: 772.425470 meters looking forward 100.000000 meters along route # Maximum depth: 773.352817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.425470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362034; longitude = -118.136647; captureRadius = 10; duration = 208; initialDepth = 721.257663; finalDepth = 722.425470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.424081 # Actual altitude: 66.424081 # Commanded vehicle depth: 722.42547 # Seafloor depth: -773.352817 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 265.70; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.85; MB_Bottom_Detect_Filter_Max_Range = 265.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 104.471510 meters # Minimum depth: 771.257663 meters looking forward 100.000000 meters along route # Maximum depth: 772.292015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.257663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362893; longitude = -118.137108; captureRadius = 10; duration = 208; initialDepth = 720.284233; finalDepth = 721.257663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.034352 # Actual altitude: 51.034352 # Commanded vehicle depth: 721.257663 # Seafloor depth: -772.292015 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.14; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.62; MB_Bottom_Detect_Filter_Max_Range = 204.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 104.471361 meters # Minimum depth: 770.284233 meters looking forward 100.000000 meters along route # Maximum depth: 771.236949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.284233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363752; longitude = -118.137569; captureRadius = 10; duration = 208; initialDepth = 719.293822; finalDepth = 720.284233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.034352 # Actual altitude: 51.034352 # Commanded vehicle depth: 720.284233 # Seafloor depth: -771.236949 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.14; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.62; MB_Bottom_Detect_Filter_Max_Range = 204.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 104.471211 meters # Minimum depth: 769.293822 meters looking forward 100.000000 meters along route # Maximum depth: 770.192609 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.293822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364612; longitude = -118.138030; captureRadius = 10; duration = 208; initialDepth = 718.150348; finalDepth = 719.293822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.952716 # Actual altitude: 50.952716 # Commanded vehicle depth: 719.293822 # Seafloor depth: -770.192609 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.81; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.57; MB_Bottom_Detect_Filter_Max_Range = 203.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 105.603980 meters # Minimum depth: 768.150348 meters looking forward 100.000000 meters along route # Maximum depth: 769.158104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 718.150348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.365471; longitude = -118.138490; captureRadius = 10; duration = 211; initialDepth = 717.221142; finalDepth = 718.150348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.007756 # Actual altitude: 51.007756 # Commanded vehicle depth: 718.150348 # Seafloor depth: -769.158104 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.03; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.60; MB_Bottom_Detect_Filter_Max_Range = 204.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 103.337994 meters # Minimum depth: 767.221142 meters looking forward 100.000000 meters along route # Maximum depth: 768.139787 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.221142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.366339; longitude = -118.138956; captureRadius = 10; duration = 206; initialDepth = 716.326112; finalDepth = 717.221142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.007756 # Actual altitude: 51.007756 # Commanded vehicle depth: 717.221142 # Seafloor depth: -768.139787 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.03; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.60; MB_Bottom_Detect_Filter_Max_Range = 204.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 104.470762 meters # Minimum depth: 766.326112 meters looking forward 100.000000 meters along route # Maximum depth: 767.164736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.326112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.367189; longitude = -118.139412; captureRadius = 10; duration = 208; initialDepth = 715.263149; finalDepth = 716.326112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.918645 # Actual altitude: 50.918645 # Commanded vehicle depth: 716.326112 # Seafloor depth: -767.164736 # behavior reson { duration = 6; 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 = 30.55; 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 3 # Segment length 108.684800 meters # Minimum depth: 765.263149 meters looking forward 100.000000 meters along route # Maximum depth: 766.207375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.263149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.368048; longitude = -118.139873; captureRadius = 10; duration = 217; initialDepth = 714.364495; finalDepth = 715.263149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.944226 # Actual altitude: 50.944226 # Commanded vehicle depth: 715.263149 # Seafloor depth: -766.207375 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.78; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.57; MB_Bottom_Detect_Filter_Max_Range = 203.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.256277 meters # Minimum depth: 764.364495 meters looking forward 100.000000 meters along route # Maximum depth: 765.227061 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.364495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.368942; longitude = -118.140352; captureRadius = 10; duration = 200; initialDepth = 713.500039; finalDepth = 714.364495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.944226 # Actual altitude: 50.944226 # Commanded vehicle depth: 714.364495 # Seafloor depth: -765.227061 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.78; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.57; MB_Bottom_Detect_Filter_Max_Range = 203.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.484054 meters # Minimum depth: 763.500039 meters looking forward 100.000000 meters along route # Maximum depth: 764.339791 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.500039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.369767; longitude = -118.140795; captureRadius = 10; duration = 200; initialDepth = 711.806374; finalDepth = 713.500039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.862566 # Actual altitude: 50.862566 # Commanded vehicle depth: 713.500039 # Seafloor depth: -764.339791 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 203.45; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.52; MB_Bottom_Detect_Filter_Max_Range = 203.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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 165.177481 meters # Minimum depth: 761.806374 meters looking forward 100.000000 meters along route # Maximum depth: 763.424316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.806374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.370593; longitude = -118.141238; captureRadius = 10; duration = 330; # abortOnTimeout = True; initialDepth = 710.834188; finalDepth = 711.806374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.617942 # Actual altitude: 51.617942 # Commanded vehicle depth: 711.806374 # Seafloor depth: -763.424316 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.97; MB_Bottom_Detect_Filter_Max_Range = 206.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 106.079962 meters # Minimum depth: 760.834188 meters looking forward 100.000000 meters along route # Maximum depth: 761.770712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.834188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.369981; longitude = -118.142857; captureRadius = 10; duration = 212; initialDepth = 709.768873; finalDepth = 710.834188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.617942 # Actual altitude: 51.617942 # Commanded vehicle depth: 710.834188 # Seafloor depth: -761.770712 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.97; MB_Bottom_Detect_Filter_Max_Range = 206.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 109.579629 meters # Minimum depth: 759.768873 meters looking forward 100.000000 meters along route # Maximum depth: 760.725396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.768873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.369589; longitude = -118.143897; captureRadius = 10; duration = 219; initialDepth = 708.726031; finalDepth = 709.768873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9565230000001 # Actual altitude: 50.9565230000001 # Commanded vehicle depth: 709.768873 # Seafloor depth: -760.725396 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.83; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.57; MB_Bottom_Detect_Filter_Max_Range = 203.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.401027 meters # Minimum depth: 758.726031 meters looking forward 100.000000 meters along route # Maximum depth: 759.668924 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.726031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.369183; longitude = -118.144970; captureRadius = 10; duration = 206; initialDepth = 707.812503; finalDepth = 708.726031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9565230000001 # Actual altitude: 50.9565230000001 # Commanded vehicle depth: 708.726031 # Seafloor depth: -759.668924 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.83; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.57; MB_Bottom_Detect_Filter_Max_Range = 203.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 104.801511 meters # Minimum depth: 757.812503 meters looking forward 100.000000 meters along route # Maximum depth: 758.682665 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.812503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.368800; longitude = -118.145984; captureRadius = 10; duration = 209; initialDepth = 684.462208; finalDepth = 707.812503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9428929999999 # Actual altitude: 50.9428929999999 # Commanded vehicle depth: 707.812503 # Seafloor depth: -758.682665 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.57; MB_Bottom_Detect_Filter_Max_Range = 203.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 109.580937 meters # Minimum depth: 734.462208 meters looking forward 100.000000 meters along route # Maximum depth: 745.660757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.462208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.368412; longitude = -118.147011; captureRadius = 10; duration = 219; initialDepth = 673.046182; finalDepth = 684.462208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.198549 # Actual altitude: 61.198549 # Commanded vehicle depth: 684.462208 # Seafloor depth: -745.660757 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 244.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.72; MB_Bottom_Detect_Filter_Max_Range = 244.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 244.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 110.811427 meters # Minimum depth: 723.046182 meters looking forward 100.000000 meters along route # Maximum depth: 734.040478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.046182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.368006; longitude = -118.148085; captureRadius = 10; duration = 221; initialDepth = 673.527847; finalDepth = 673.046182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 61.198549 # Actual altitude: 61.198549 # Commanded vehicle depth: 673.046182 # Seafloor depth: -734.040478 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; MB_Range = 244.79; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.72; MB_Bottom_Detect_Filter_Max_Range = 244.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 244.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 153.950841 meters # Minimum depth: 723.527847 meters looking forward 100.000000 meters along route # Maximum depth: 732.951648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.527847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.367596; longitude = -118.149171; captureRadius = 10; duration = 307; # abortOnTimeout = True; initialDepth = 680.220148; finalDepth = 673.527847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.994296 # Actual altitude: 60.994296 # Commanded vehicle depth: 673.527847 # Seafloor depth: -723.527847 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 243.98; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.60; MB_Bottom_Detect_Filter_Max_Range = 243.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.473823 meters # Minimum depth: 730.220148 meters looking forward 100.000000 meters along route # Maximum depth: 735.317009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.220148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.366330; longitude = -118.148492; captureRadius = 10; duration = 208; initialDepth = 677.620557; finalDepth = 680.220148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 680.220148 # Seafloor depth: -730.220148 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.473973 meters # Minimum depth: 727.620557 meters looking forward 100.000000 meters along route # Maximum depth: 732.915228 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 677.620557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.365471; longitude = -118.148031; captureRadius = 10; duration = 208; initialDepth = 680.130505; finalDepth = 677.620557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.294671 # Actual altitude: 55.294671 # Commanded vehicle depth: 677.620557 # Seafloor depth: -732.915228 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.18; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.18; MB_Bottom_Detect_Filter_Max_Range = 221.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.474122 meters # Minimum depth: 730.130505 meters looking forward 100.000000 meters along route # Maximum depth: 733.969116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.130505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.364612; longitude = -118.147570; captureRadius = 10; duration = 208; initialDepth = 673.890016; finalDepth = 680.130505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.294671 # Actual altitude: 55.294671 # Commanded vehicle depth: 680.130505 # Seafloor depth: -731.854563 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 221.18; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.18; MB_Bottom_Detect_Filter_Max_Range = 221.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.474271 meters # Minimum depth: 723.890016 meters looking forward 100.000000 meters along route # Maximum depth: 730.469560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.890016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.363752; longitude = -118.147109; captureRadius = 10; duration = 208; initialDepth = 672.152478; finalDepth = 673.890016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9830730000001 # Actual altitude: 55.9830730000001 # Commanded vehicle depth: 673.890016 # Seafloor depth: -729.873089 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 223.93; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.59; MB_Bottom_Detect_Filter_Max_Range = 223.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.474422 meters # Minimum depth: 722.152478 meters looking forward 100.000000 meters along route # Maximum depth: 729.381154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.152478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362893; longitude = -118.146648; captureRadius = 10; duration = 208; initialDepth = 671.431957; finalDepth = 672.152478; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9830730000001 # Actual altitude: 55.9830730000001 # Commanded vehicle depth: 672.152478 # Seafloor depth: -722.881989 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 223.93; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.59; MB_Bottom_Detect_Filter_Max_Range = 223.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.385435 meters # Minimum depth: 721.431957 meters looking forward 100.000000 meters along route # Maximum depth: 728.357896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.431957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.362034; longitude = -118.146187; captureRadius = 10; duration = 210; initialDepth = 671.333455; finalDepth = 671.431957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.738886 # Actual altitude: 53.738886 # Commanded vehicle depth: 671.431957 # Seafloor depth: -725.170843 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.96; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.24; MB_Bottom_Detect_Filter_Max_Range = 214.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.563855 meters # Minimum depth: 721.333455 meters looking forward 100.000000 meters along route # Maximum depth: 726.308102 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.333455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.361167; longitude = -118.145722; captureRadius = 10; duration = 207; initialDepth = 670.076567; finalDepth = 671.333455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.738886 # Actual altitude: 53.738886 # Commanded vehicle depth: 671.333455 # Seafloor depth: -721.426251 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 214.96; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.24; MB_Bottom_Detect_Filter_Max_Range = 214.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.474870 meters # Minimum depth: 720.076567 meters looking forward 100.000000 meters along route # Maximum depth: 726.783096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 670.076567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.360316; longitude = -118.145265; captureRadius = 10; duration = 208; initialDepth = 669.866259; finalDepth = 670.076567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.706529 # Actual altitude: 56.706529 # Commanded vehicle depth: 670.076567 # Seafloor depth: -726.783096 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 226.83; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.02; MB_Bottom_Detect_Filter_Max_Range = 226.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 108.422013 meters # Minimum depth: 719.866259 meters looking forward 100.000000 meters along route # Maximum depth: 726.485414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 669.866259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.359457; longitude = -118.144804; captureRadius = 10; duration = 216; initialDepth = 671.782726; finalDepth = 669.866259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.706529 # Actual altitude: 56.706529 # Commanded vehicle depth: 669.866259 # Seafloor depth: -719.866259 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 226.83; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.02; MB_Bottom_Detect_Filter_Max_Range = 226.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.528174 meters # Minimum depth: 721.782726 meters looking forward 100.000000 meters along route # Maximum depth: 726.419255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.782726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.358565; longitude = -118.144326; captureRadius = 10; duration = 201; initialDepth = 671.913318; finalDepth = 671.782726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.636529 # Actual altitude: 54.636529 # Commanded vehicle depth: 671.782726 # Seafloor depth: -726.419255 # behavior reson { duration = 6; 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 = 32.78; 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 1 # Segment length 104.475318 meters # Minimum depth: 721.913318 meters looking forward 100.000000 meters along route # Maximum depth: 726.367058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.913318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.357738; longitude = -118.143883; captureRadius = 10; duration = 208; initialDepth = 677.792635; finalDepth = 671.913318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.636529 # Actual altitude: 54.636529 # Commanded vehicle depth: 671.913318 # Seafloor depth: -722.153831 # behavior reson { duration = 6; 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 = 32.78; 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 1 # Segment length 104.475468 meters # Minimum depth: 727.792635 meters looking forward 100.000000 meters along route # Maximum depth: 755.172798 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 677.792635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356879; longitude = -118.143422; captureRadius = 10; duration = 208; initialDepth = 705.930900; finalDepth = 677.792635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.240513 # Actual altitude: 50.240513 # Commanded vehicle depth: 677.792635 # Seafloor depth: -727.792635 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.96; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.14; MB_Bottom_Detect_Filter_Max_Range = 200.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.475616 meters # Minimum depth: 755.930900 meters looking forward 100.000000 meters along route # Maximum depth: 784.804907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.930900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.356020; longitude = -118.142961; captureRadius = 10; duration = 208; initialDepth = 734.844360; finalDepth = 705.930900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2869800000001 # Actual altitude: 52.2869800000001 # Commanded vehicle depth: 705.9309 # Seafloor depth: -758.217880 # behavior reson { duration = 6; 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 = 31.37; 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 during line 1 # Segment length 104.475767 meters # Minimum depth: 784.844360 meters looking forward 100.000000 meters along route # Maximum depth: 796.943415 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.844360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.355161; longitude = -118.142500; captureRadius = 10; duration = 208; initialDepth = 743.854615; finalDepth = 734.844360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2869800000001 # Actual altitude: 52.2869800000001 # Commanded vehicle depth: 734.84436 # Seafloor depth: -784.844360 # behavior reson { duration = 6; 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 = 31.37; 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 during line 1 # Segment length 104.475916 meters # Minimum depth: 793.854615 meters looking forward 100.000000 meters along route # Maximum depth: 796.349677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.854615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.354302; longitude = -118.142039; captureRadius = 10; duration = 208; initialDepth = 742.848969; finalDepth = 743.854615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.229904 # Actual altitude: 52.229904 # Commanded vehicle depth: 743.854615 # Seafloor depth: -796.084519 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.92; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.34; MB_Bottom_Detect_Filter_Max_Range = 208.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.392986 meters # Minimum depth: 792.848969 meters looking forward 100.000000 meters along route # Maximum depth: 795.318565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.848969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.353442; longitude = -118.141578; captureRadius = 10; duration = 214; initialDepth = 742.928249; finalDepth = 742.848969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.229904 # Actual altitude: 52.229904 # Commanded vehicle depth: 742.848969 # Seafloor depth: -794.601461 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 208.92; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.34; MB_Bottom_Detect_Filter_Max_Range = 208.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.559294 meters # Minimum depth: 792.928249 meters looking forward 100.000000 meters along route # Maximum depth: 794.170176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.928249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.352559; longitude = -118.141104; captureRadius = 10; duration = 203; initialDepth = 742.004571; finalDepth = 742.928249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.752492 # Actual altitude: 51.752492 # Commanded vehicle depth: 742.928249 # Seafloor depth: -793.030519 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.01; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.05; MB_Bottom_Detect_Filter_Max_Range = 207.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.476364 meters # Minimum depth: 792.004571 meters looking forward 100.000000 meters along route # Maximum depth: 793.036816 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.004571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.351724; longitude = -118.140656; captureRadius = 10; duration = 208; initialDepth = 739.943003; finalDepth = 742.004571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.902352 # Actual altitude: 50.902352 # Commanded vehicle depth: 742.004571 # Seafloor depth: -792.906923 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.61; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.54; MB_Bottom_Detect_Filter_Max_Range = 203.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.476514 meters # Minimum depth: 789.943003 meters looking forward 100.000000 meters along route # Maximum depth: 791.913876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.943003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350865; longitude = -118.140195; captureRadius = 10; duration = 208; initialDepth = 739.284407; finalDepth = 739.943003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.810636 # Actual altitude: 51.810636 # Commanded vehicle depth: 739.943003 # Seafloor depth: -791.753639 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.24; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.09; MB_Bottom_Detect_Filter_Max_Range = 207.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.476664 meters # Minimum depth: 789.284407 meters looking forward 100.000000 meters along route # Maximum depth: 790.982354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.284407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.350006; longitude = -118.139734; captureRadius = 10; duration = 208; initialDepth = 739.913821; finalDepth = 739.284407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.810636 # Actual altitude: 51.810636 # Commanded vehicle depth: 739.284407 # Seafloor depth: -789.457190 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.24; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.09; MB_Bottom_Detect_Filter_Max_Range = 207.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.476812 meters # Minimum depth: 789.913821 meters looking forward 100.000000 meters along route # Maximum depth: 790.972891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 739.913821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.349147; longitude = -118.139273; captureRadius = 10; duration = 208; initialDepth = 741.077705; finalDepth = 739.913821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.05907 # Actual altitude: 51.05907 # Commanded vehicle depth: 739.913821 # Seafloor depth: -790.972891 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.24; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.64; MB_Bottom_Detect_Filter_Max_Range = 204.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.476963 meters # Minimum depth: 791.077705 meters looking forward 100.000000 meters along route # Maximum depth: 792.263193 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.077705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.348287; longitude = -118.138813; captureRadius = 10; duration = 208; initialDepth = 742.532018; finalDepth = 741.077705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.05907 # Actual altitude: 51.05907 # Commanded vehicle depth: 741.077705 # Seafloor depth: -791.077705 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 204.24; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.64; MB_Bottom_Detect_Filter_Max_Range = 204.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.363938 meters # Minimum depth: 792.532018 meters looking forward 100.000000 meters along route # Maximum depth: 793.855212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.532018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.347428; longitude = -118.138352; captureRadius = 10; duration = 212; initialDepth = 743.966304; finalDepth = 742.532018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 742.532018 # Seafloor depth: -792.532018 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.590435 meters # Minimum depth: 793.966304 meters looking forward 100.000000 meters along route # Maximum depth: 795.698092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.966304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.346554; longitude = -118.137882; captureRadius = 10; duration = 205; initialDepth = 745.937233; finalDepth = 743.966304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 743.966304 # Seafloor depth: -793.966304 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.477411 meters # Minimum depth: 795.937233 meters looking forward 100.000000 meters along route # Maximum depth: 801.487045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.937233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.345710; longitude = -118.137430; captureRadius = 10; duration = 208; initialDepth = 750.596144; finalDepth = 745.937233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 745.937233 # Seafloor depth: -795.937233 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.477560 meters # Minimum depth: 800.596144 meters looking forward 100.000000 meters along route # Maximum depth: 803.652116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 750.596144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.344851; longitude = -118.136969; captureRadius = 10; duration = 208; initialDepth = 710.069002; finalDepth = 750.596144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7030970000001 # Actual altitude: 50.7030970000001 # Commanded vehicle depth: 750.596144 # Seafloor depth: -801.299241 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.81; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.42; MB_Bottom_Detect_Filter_Max_Range = 202.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.477710 meters # Minimum depth: 760.069002 meters looking forward 100.000000 meters along route # Maximum depth: 799.771670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.069002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343992; longitude = -118.136508; captureRadius = 10; duration = 208; initialDepth = 690.297973; finalDepth = 710.069002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.702668 # Actual altitude: 89.702668 # Commanded vehicle depth: 710.069002 # Seafloor depth: -799.771670 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 53.82; 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 1 # Segment length 104.477859 meters # Minimum depth: 740.297973 meters looking forward 100.000000 meters along route # Maximum depth: 759.116445 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.297973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.343132; longitude = -118.136047; captureRadius = 10; duration = 208; initialDepth = 689.989642; finalDepth = 690.297973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.702668 # Actual altitude: 89.702668 # Commanded vehicle depth: 690.297973 # Seafloor depth: -759.116445 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 53.82; 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 1 # Segment length 104.478009 meters # Minimum depth: 739.989642 meters looking forward 100.000000 meters along route # Maximum depth: 741.643171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.989642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.342273; longitude = -118.135586; captureRadius = 10; duration = 208; initialDepth = 688.749981; finalDepth = 689.989642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.818472 # Actual altitude: 68.818472 # Commanded vehicle depth: 689.989642 # Seafloor depth: -740.534109 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 275.27; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.29; MB_Bottom_Detect_Filter_Max_Range = 275.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.334870 meters # Minimum depth: 738.749981 meters looking forward 100.000000 meters along route # Maximum depth: 740.570384 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.749981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.341414; longitude = -118.135125; captureRadius = 10; duration = 210; initialDepth = 688.015111; finalDepth = 688.749981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8204029999999 # Actual altitude: 51.8204029999999 # Commanded vehicle depth: 688.749981 # Seafloor depth: -740.570384 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.28; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.09; MB_Bottom_Detect_Filter_Max_Range = 207.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.621597 meters # Minimum depth: 738.015111 meters looking forward 100.000000 meters along route # Maximum depth: 739.847108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.015111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.340548; longitude = -118.134660; captureRadius = 10; duration = 207; initialDepth = 688.799232; finalDepth = 688.015111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8204029999999 # Actual altitude: 51.8204029999999 # Commanded vehicle depth: 688.015111 # Seafloor depth: -738.787549 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 207.28; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.09; MB_Bottom_Detect_Filter_Max_Range = 207.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.478457 meters # Minimum depth: 738.799232 meters looking forward 100.000000 meters along route # Maximum depth: 740.595367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.799232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.339696; longitude = -118.134203; captureRadius = 10; duration = 208; initialDepth = 690.840466; finalDepth = 688.799232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.832317 # Actual altitude: 50.832317 # Commanded vehicle depth: 688.799232 # Seafloor depth: -739.631549 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.33; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.50; MB_Bottom_Detect_Filter_Max_Range = 203.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 108.371552 meters # Minimum depth: 740.840466 meters looking forward 100.000000 meters along route # Maximum depth: 741.209615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.840466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.338837; longitude = -118.133742; captureRadius = 10; duration = 216; initialDepth = 690.929880; finalDepth = 690.840466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.832317 # Actual altitude: 50.832317 # Commanded vehicle depth: 690.840466 # Seafloor depth: -740.840466 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.33; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.50; MB_Bottom_Detect_Filter_Max_Range = 203.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.585812 meters # Minimum depth: 740.929880 meters looking forward 100.000000 meters along route # Maximum depth: 742.686640 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.929880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337945; longitude = -118.133264; captureRadius = 10; duration = 201; initialDepth = 688.006030; finalDepth = 690.929880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.146782 # Actual altitude: 50.146782 # Commanded vehicle depth: 690.92988 # Seafloor depth: -741.076662 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 200.59; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.09; MB_Bottom_Detect_Filter_Max_Range = 200.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.478906 meters # Minimum depth: 738.006030 meters looking forward 100.000000 meters along route # Maximum depth: 742.246687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.006030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.337118; longitude = -118.132821; captureRadius = 10; duration = 208; initialDepth = 690.404374; finalDepth = 688.006030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2406569999999 # Actual altitude: 54.2406569999999 # Commanded vehicle depth: 688.00603 # Seafloor depth: -742.246687 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.96; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.54; MB_Bottom_Detect_Filter_Max_Range = 216.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.479055 meters # Minimum depth: 740.404374 meters looking forward 100.000000 meters along route # Maximum depth: 743.332124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.404374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.336259; longitude = -118.132360; captureRadius = 10; duration = 208; initialDepth = 693.145565; finalDepth = 690.404374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2406569999999 # Actual altitude: 54.2406569999999 # Commanded vehicle depth: 690.404374 # Seafloor depth: -740.404374 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 216.96; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.54; MB_Bottom_Detect_Filter_Max_Range = 216.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.479205 meters # Minimum depth: 743.145565 meters looking forward 100.000000 meters along route # Maximum depth: 745.249717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.145565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.335400; longitude = -118.131899; captureRadius = 10; duration = 208; initialDepth = 691.464581; finalDepth = 693.145565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5112399999999 # Actual altitude: 50.5112399999999 # Commanded vehicle depth: 693.145565 # Seafloor depth: -743.656805 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 202.04; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.31; MB_Bottom_Detect_Filter_Max_Range = 202.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.479355 meters # Minimum depth: 741.464581 meters looking forward 100.000000 meters along route # Maximum depth: 744.975799 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.464581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.334541; longitude = -118.131438; captureRadius = 10; duration = 208; initialDepth = 694.471032; finalDepth = 691.464581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.682276 # Actual altitude: 51.682276 # Commanded vehicle depth: 691.464581 # Seafloor depth: -743.146857 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.73; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.01; MB_Bottom_Detect_Filter_Max_Range = 206.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.479504 meters # Minimum depth: 744.471032 meters looking forward 100.000000 meters along route # Maximum depth: 745.653430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.471032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.333682; longitude = -118.130977; captureRadius = 10; duration = 208; initialDepth = 695.110629; finalDepth = 694.471032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.682276 # Actual altitude: 51.682276 # Commanded vehicle depth: 694.471032 # Seafloor depth: -745.226052 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 206.73; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.01; MB_Bottom_Detect_Filter_Max_Range = 206.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.342489 meters # Minimum depth: 745.110629 meters looking forward 100.000000 meters along route # Maximum depth: 747.751152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.110629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.332822; longitude = -118.130516; captureRadius = 10; duration = 214; initialDepth = 695.365749; finalDepth = 695.110629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7550199999999 # Actual altitude: 50.7550199999999 # Commanded vehicle depth: 695.110629 # Seafloor depth: -745.181961 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.02; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.45; MB_Bottom_Detect_Filter_Max_Range = 203.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.616968 meters # Minimum depth: 745.365749 meters looking forward 100.000000 meters along route # Maximum depth: 748.095441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.365749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.331940; longitude = -118.130042; captureRadius = 10; duration = 203; initialDepth = 694.977385; finalDepth = 695.365749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9288859999999 # Actual altitude: 50.9288859999999 # Commanded vehicle depth: 695.365749 # Seafloor depth: -746.294635 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 203.72; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.56; MB_Bottom_Detect_Filter_Max_Range = 203.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.479953 meters # Minimum depth: 744.977385 meters looking forward 100.000000 meters along route # Maximum depth: 748.214183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.977385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.331104; longitude = -118.129594; captureRadius = 10; duration = 208; initialDepth = 693.685923; finalDepth = 694.977385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.236798 # Actual altitude: 53.236798 # Commanded vehicle depth: 694.977385 # Seafloor depth: -748.214183 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.95; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.94; MB_Bottom_Detect_Filter_Max_Range = 212.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 110.379223 meters # Minimum depth: 743.685923 meters looking forward 100.000000 meters along route # Maximum depth: 745.152680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.685923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.330245; longitude = -118.129133; captureRadius = 10; duration = 220; initialDepth = 693.124825; finalDepth = 693.685923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.236798 # Actual altitude: 53.236798 # Commanded vehicle depth: 693.685923 # Seafloor depth: -744.524116 # behavior reson { duration = 6; SBP_Duration = 400.000; MB_Range = 212.95; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.94; MB_Bottom_Detect_Filter_Max_Range = 212.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.714258 meters # Minimum depth: 743.124825 meters looking forward 100.000000 meters along route # Maximum depth: 745.476819 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 789.905587 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.124825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.329337; longitude = -118.128646; captureRadius = 10; duration = 201; initialDepth = 693.124825; finalDepth = 693.124825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.838193 # Actual altitude: 50.838193 # Commanded vehicle depth: 693.124825 # Seafloor depth: -743.839498 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; MB_Range = 203.35; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.50; MB_Bottom_Detect_Filter_Max_Range = 203.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 50.7146730000001 # Sonar parameter altitude: 50.7146730000001 # Commanded vehicle depth: 693.124825 # Seafloor depth: -743.521683 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 400.000; MB_Power = 220; MB_Range = 202.86; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.43; MB_Bottom_Detect_Filter_Max_Range = 202.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.86; 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 100.714258 meters # Minimum depth: 743.124825 meters looking forward 100.000000 meters along route # Maximum depth: 745.476819 meters looking forward 100.000000 meters along route # Vehicle depth: 693.124825 meters behavior waypoint { latitude = 33.328509; longitude = -118.128202; captureRadius = 10; duration = 1000; depth = 693.124825; speed = 1.500000; } # # Zero speed hang to allow final nav updates over acoustic modem # - must get start survey command over acoustic modem or mission aborts behavior StartSurvey { duration = 300; } # # Acoustic update - sent status ping at beginning of StartSurvey behavior # behavior acousticUpdate { duration = 2; dummy = 1; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 693.124825 meters set by local depth and desired altitude behavior descend { duration = 2138; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; maxDepth = 683.521683; minAltitude = 50.000000; } # # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 100.714258 meters # Minimum depth: 743.124825 meters looking forward 100.000000 meters along route # Maximum depth: 745.476819 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 = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 13.0; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 13.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 400.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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; } # ####################################################### ####################################################### ####################################################### #######################################################