# 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_SantaMonicaRefraction_1v2.rte # Mission File: 2010_SantaMonicaRefraction_1v2.cfg # Distance: 18475.270113 (m) # Estimated Time: 17217 (s) 4.783 (hr) # Abort Time: 22382 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 977 (s) # Way Points: 30 # Route Points: 184 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 45 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.4 # Subbottom enabled # Low sidescan enabled # High sidescan enabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Speed: 1.200000 (m/s) 2.332615 (knots) # Desired Vehicle Altitude: 10 (m) # Minimum Vehicle Altitude: 20 (m) # Abort Vehicle Altitude: 10 (m) # Maximum Vehicle Depth: 853.764942 (m) # Abort Vehicle Depth: 863.764942 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 813.54895 m # Spiral descent altitude: 10 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 -118.658934 33.807528 -833.548950 0.000000 3 # 1 -118.655801 33.803747 -821.767456 509.885795 1 # 2 -118.641020 33.795774 -839.251740 2139.278606 4 # 3 -118.640726 33.796152 -840.582916 2189.264283 3 # 4 -118.655382 33.804075 -820.718948 3805.922439 4 # 5 -118.655640 33.803784 -820.849640 3846.074656 3 # 6 -118.640939 33.795837 -840.065094 5467.681056 4 # 7 -118.640645 33.796216 -840.882523 5517.759773 3 # 8 -118.655346 33.804162 -821.007629 7139.300727 4 # 9 -118.655604 33.803872 -820.824463 7179.363837 3 # 10 -118.640857 33.795901 -840.169739 8805.991038 4 # 11 -118.640564 33.796279 -841.543732 8855.926323 3 # 12 -118.655310 33.804250 -821.188019 10482.470622 4 # 13 -118.655568 33.803960 -820.584076 10522.533718 3 # 14 -118.640776 33.795964 -840.625687 12154.164274 4 # 15 -118.640482 33.796343 -841.851044 12204.242967 3 # 16 -118.655274 33.804338 -821.588318 13835.808044 4 # 17 -118.655532 33.804048 -820.607758 13875.871126 3 # 18 -118.640695 33.796028 -840.840851 15512.444747 1 # 19 -118.636140 33.793592 -864.031158 16013.326117 3 # 20 -118.645885 33.797983 -824.775798 17038.663306 3 # 21 -118.645075 33.798955 -820.394206 17170.006522 3 # 22 -118.645939 33.800521 -820.026367 17361.252400 3 # 23 -118.647091 33.798937 -802.983887 17566.804524 3 # 24 -118.648765 33.799423 -821.217692 17730.931060 3 # 25 -118.647901 33.800503 -814.731364 17874.989410 3 # 26 -118.649035 33.801529 -817.236165 18029.842404 3 # 27 -118.649827 33.800413 -815.224609 18173.727498 3 # 28 -118.651448 33.800845 -816.645508 18331.212341 3 # 29 -118.650584 33.801925 -816.587077 18475.270113 4 # # A total of 184 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 22382; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 853.764942; abortDepth = 863.764942; minAltitude = 20.000000; abortAltitude = 10.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 977; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.5; 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 29 # Segment length 144.057772 meters # Minimum depth: 814.810567 meters looking forward 100.000000 meters along route # Maximum depth: 816.587077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.810567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801925; longitude = -118.650584; captureRadius = 10; duration = 360; # abortOnTimeout = True; initialDepth = 805.004839; finalDepth = 804.810567; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 11.77651 # Actual altitude: 20 # Commanded vehicle depth: 804.810567 # Seafloor depth: -816.587077 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; 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 157.484843 meters # Minimum depth: 815.004839 meters looking forward 100.000000 meters along route # Maximum depth: 816.645508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 805.004839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800845; longitude = -118.651448; captureRadius = 10; duration = 393; # abortOnTimeout = True; initialDepth = 804.795652; finalDepth = 805.004839; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 11.77651 # Actual altitude: 20 # Commanded vehicle depth: 805.004839 # Seafloor depth: -816.645508 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; 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 27 # Segment length 143.885094 meters # Minimum depth: 814.795652 meters looking forward 100.000000 meters along route # Maximum depth: 817.143476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.795652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800413; longitude = -118.649827; captureRadius = 10; duration = 359; # abortOnTimeout = True; initialDepth = 804.790139; finalDepth = 804.795652; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 11.640669 # Actual altitude: 20 # Commanded vehicle depth: 804.795652 # Seafloor depth: -815.224609 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; 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 26 # Segment length 154.852994 meters # Minimum depth: 814.790139 meters looking forward 100.000000 meters along route # Maximum depth: 817.236165 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.790139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801529; longitude = -118.649035; captureRadius = 10; duration = 387; # abortOnTimeout = True; initialDepth = 803.842680; finalDepth = 804.790139; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 12.4460260000001 # Actual altitude: 20 # Commanded vehicle depth: 804.790139 # Seafloor depth: -817.236165 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; 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 25 # Segment length 144.058350 meters # Minimum depth: 813.842680 meters looking forward 100.000000 meters along route # Maximum depth: 820.676367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 803.842680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800503; longitude = -118.647901; captureRadius = 10; duration = 360; # abortOnTimeout = True; initialDepth = 792.801769; finalDepth = 803.842680; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 12.4460260000001 # Actual altitude: 20 # Commanded vehicle depth: 803.84268 # Seafloor depth: -814.731364 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; 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 164.126536 meters # Minimum depth: 802.801769 meters looking forward 100.000000 meters along route # Maximum depth: 821.217692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 792.801769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799423; longitude = -118.648765; captureRadius = 10; duration = 410; # abortOnTimeout = True; initialDepth = 791.092613; finalDepth = 792.801769; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 28.415923 # Actual altitude: 28.415923 # Commanded vehicle depth: 792.801769 # Seafloor depth: -821.217692 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 113.66; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.37; MB_Bottom_Detect_Filter_Max_Range = 113.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 113.66; 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 23 # Segment length 102.776195 meters # Minimum depth: 801.092613 meters looking forward 100.000000 meters along route # Maximum depth: 806.451028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 791.092613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798937; longitude = -118.647091; captureRadius = 10; duration = 256; # abortOnTimeout = True; initialDepth = 799.599060; finalDepth = 791.092613; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.415923 # Actual altitude: 28.415923 # Commanded vehicle depth: 791.092613 # Seafloor depth: -802.983887 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 113.66; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.37; MB_Bottom_Detect_Filter_Max_Range = 113.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 113.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 102.775929 meters # Minimum depth: 809.599060 meters looking forward 100.000000 meters along route # Maximum depth: 819.719310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.599060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799729; longitude = -118.646515; captureRadius = 10; duration = 256; initialDepth = 809.262209; finalDepth = 799.599060; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 11.891274 # Actual altitude: 20 # Commanded vehicle depth: 799.59906 # Seafloor depth: -809.599060 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 90.127304 meters # Minimum depth: 819.262209 meters looking forward 100.000000 meters along route # Maximum depth: 820.026367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.262209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800521; longitude = -118.645939; captureRadius = 10; duration = 225; # abortOnTimeout = True; initialDepth = 809.148635; finalDepth = 809.262209; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10.7641580000001 # Actual altitude: 20 # Commanded vehicle depth: 809.262209 # Seafloor depth: -820.026367 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.118574 meters # Minimum depth: 819.148635 meters looking forward 100.000000 meters along route # Maximum depth: 820.332524 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.148635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799783; longitude = -118.645532; captureRadius = 10; duration = 252; initialDepth = 810.365194; finalDepth = 809.148635; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 10.7641580000001 # Actual altitude: 20 # Commanded vehicle depth: 809.148635 # Seafloor depth: -819.351114 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; 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 21 # Segment length 131.343216 meters # Minimum depth: 820.365194 meters looking forward 100.000000 meters along route # Maximum depth: 824.636115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 810.365194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798955; longitude = -118.645075; captureRadius = 10; duration = 328; # abortOnTimeout = True; initialDepth = 814.775798; finalDepth = 810.365194; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 10.202479 # Actual altitude: 20 # Commanded vehicle depth: 810.365194 # Seafloor depth: -820.394206 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; 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 109.861990 meters # Minimum depth: 824.775798 meters looking forward 100.000000 meters along route # Maximum depth: 826.552700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 814.775798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797983; longitude = -118.645885; captureRadius = 10; duration = 274; # abortOnTimeout = True; initialDepth = 816.555156; finalDepth = 814.775798; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10.0290120000001 # Actual altitude: 20 # Commanded vehicle depth: 814.775798 # Seafloor depth: -824.775798 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.337922 meters # Minimum depth: 826.555156 meters looking forward 100.000000 meters along route # Maximum depth: 827.621795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 816.555156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797512; longitude = -118.644841; captureRadius = 10; duration = 250; initialDepth = 817.691947; finalDepth = 816.555156; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 816.555156 # Seafloor depth: -826.555156 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.896509 meters # Minimum depth: 827.691947 meters looking forward 100.000000 meters along route # Maximum depth: 829.408707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 817.691947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797083; longitude = -118.643887; captureRadius = 10; duration = 252; initialDepth = 819.463480; finalDepth = 817.691947; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 817.691947 # Seafloor depth: -827.691947 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.896867 meters # Minimum depth: 829.463480 meters looking forward 100.000000 meters along route # Maximum depth: 832.479929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 819.463480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796651; longitude = -118.642928; captureRadius = 10; duration = 252; initialDepth = 822.534574; finalDepth = 819.463480; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 819.46348 # Seafloor depth: -829.463480 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.331030 meters # Minimum depth: 832.534574 meters looking forward 100.000000 meters along route # Maximum depth: 839.353529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 822.534574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796218; longitude = -118.641969; captureRadius = 10; duration = 253; initialDepth = 829.391700; finalDepth = 822.534574; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 822.534574 # Seafloor depth: -832.534574 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.287133 meters # Minimum depth: 839.391700 meters looking forward 100.000000 meters along route # Maximum depth: 847.672330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 829.391700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795785; longitude = -118.641006; captureRadius = 10; duration = 255; initialDepth = 837.810231; finalDepth = 829.391700; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 829.3917 # Seafloor depth: -839.391700 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.287500 meters # Minimum depth: 847.810231 meters looking forward 100.000000 meters along route # Maximum depth: 854.652478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 837.810231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795347; longitude = -118.640034; captureRadius = 10; duration = 255; initialDepth = 844.806986; finalDepth = 837.810231; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 837.810231 # Seafloor depth: -847.810231 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.287868 meters # Minimum depth: 854.806986 meters looking forward 100.000000 meters along route # Maximum depth: 860.761338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 844.806986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794908; longitude = -118.639062; captureRadius = 10; duration = 255; initialDepth = 851.049238; finalDepth = 844.806986; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 844.806986 # Seafloor depth: -854.806986 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.288236 meters # Minimum depth: 861.049238 meters looking forward 100.000000 meters along route # Maximum depth: 863.825359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 851.049238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794470; longitude = -118.638090; captureRadius = 10; duration = 255; initialDepth = 853.752972; finalDepth = 851.049238; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 851.049238 # Seafloor depth: -861.049238 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.862134 meters # Minimum depth: 863.752972 meters looking forward 100.000000 meters along route # Maximum depth: 864.035800 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 853.752972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794032; longitude = -118.637118; captureRadius = 10; duration = 257; initialDepth = 853.764942; finalDepth = 853.752972; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 10.085244 # Actual altitude: 20 # Commanded vehicle depth: 853.752972 # Seafloor depth: -863.838216 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; 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 19 # Segment length 95.844548 meters # Minimum depth: 863.764942 meters looking forward 100.000000 meters along route # Maximum depth: 864.035800 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 853.764942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793592; longitude = -118.636140; captureRadius = 10; duration = 239; # abortOnTimeout = True; initialDepth = 851.245508; finalDepth = 853.764942; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10.266216 # Actual altitude: 20 # Commanded vehicle depth: 853.764942 # Seafloor depth: -864.031158 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.739126 meters # Minimum depth: 861.245508 meters looking forward 100.000000 meters along route # Maximum depth: 863.850673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 851.245508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794058; longitude = -118.637012; captureRadius = 10; duration = 251; initialDepth = 845.004374; finalDepth = 851.245508; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 12.6051650000001 # Actual altitude: 20 # Commanded vehicle depth: 851.245508 # Seafloor depth: -863.850673 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.961049 meters # Minimum depth: 855.004374 meters looking forward 100.000000 meters along route # Maximum depth: 861.196937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 845.004374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794548; longitude = -118.637928; captureRadius = 10; duration = 252; initialDepth = 838.659115; finalDepth = 845.004374; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 16.1925630000001 # Actual altitude: 20 # Commanded vehicle depth: 845.004374 # Seafloor depth: -861.196937 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.960675 meters # Minimum depth: 848.659115 meters looking forward 100.000000 meters along route # Maximum depth: 854.900717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 838.659115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795039; longitude = -118.638846; captureRadius = 10; duration = 252; initialDepth = 831.046142; finalDepth = 838.659115; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 16.2416019999999 # Actual altitude: 20 # Commanded vehicle depth: 838.659115 # Seafloor depth: -854.900717 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 102.375972 meters # Minimum depth: 841.046142 meters looking forward 100.000000 meters along route # Maximum depth: 848.450689 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 831.046142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795530; longitude = -118.639764; captureRadius = 10; duration = 255; initialDepth = 822.789070; finalDepth = 831.046142; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 17.404547 # Actual altitude: 20 # Commanded vehicle depth: 831.046142 # Seafloor depth: -848.450689 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 117.728771 meters # Minimum depth: 832.789070 meters looking forward 100.000000 meters along route # Maximum depth: 840.840851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 822.789070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796028; longitude = -118.640695; captureRadius = 10; duration = 294; # abortOnTimeout = True; initialDepth = 818.611050; finalDepth = 822.789070; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 18.051781 # Actual altitude: 20 # Commanded vehicle depth: 822.78907 # Seafloor depth: -840.840851 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.276141 meters # Minimum depth: 828.611050 meters looking forward 100.000000 meters along route # Maximum depth: 832.672994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 818.611050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796605; longitude = -118.641762; captureRadius = 10; duration = 253; initialDepth = 815.471071; finalDepth = 818.611050; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 18.051781 # Actual altitude: 20 # Commanded vehicle depth: 818.61105 # Seafloor depth: -832.672994 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.275762 meters # Minimum depth: 825.471071 meters looking forward 100.000000 meters along route # Maximum depth: 828.473185 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 815.471071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797101; longitude = -118.642680; captureRadius = 10; duration = 253; initialDepth = 813.297935; finalDepth = 815.471071; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 14.061944 # Actual altitude: 20 # Commanded vehicle depth: 815.471071 # Seafloor depth: -828.473185 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.275386 meters # Minimum depth: 823.297935 meters looking forward 100.000000 meters along route # Maximum depth: 825.287693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 813.297935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797597; longitude = -118.643599; captureRadius = 10; duration = 253; initialDepth = 810.380429; finalDepth = 813.297935; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 13.0021139999999 # Actual altitude: 20 # Commanded vehicle depth: 813.297935 # Seafloor depth: -825.287693 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.240768 meters # Minimum depth: 820.380429 meters looking forward 100.000000 meters along route # Maximum depth: 823.169231 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 810.380429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798094; longitude = -118.644517; captureRadius = 10; duration = 255; initialDepth = 796.083881; finalDepth = 810.380429; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 12.7888019999999 # Actual altitude: 20 # Commanded vehicle depth: 810.380429 # Seafloor depth: -823.169231 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.308870 meters # Minimum depth: 806.083881 meters looking forward 100.000000 meters along route # Maximum depth: 820.327152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.083881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798595; longitude = -118.645444; captureRadius = 10; duration = 250; initialDepth = 791.863375; finalDepth = 796.083881; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 24.2432709999999 # Actual altitude: 24.2432709999999 # Commanded vehicle depth: 796.083881 # Seafloor depth: -820.327152 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 96.97; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.70; MB_Bottom_Detect_Filter_Max_Range = 96.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 96.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.274253 meters # Minimum depth: 801.863375 meters looking forward 100.000000 meters along route # Maximum depth: 805.891109 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 791.863375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799086; longitude = -118.646353; captureRadius = 10; duration = 253; initialDepth = 796.001191; finalDepth = 791.863375; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 24.2432709999999 # Actual altitude: 24.2432709999999 # Commanded vehicle depth: 791.863375 # Seafloor depth: -805.891109 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 96.97; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.70; MB_Bottom_Detect_Filter_Max_Range = 96.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 96.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.273875 meters # Minimum depth: 806.001191 meters looking forward 100.000000 meters along route # Maximum depth: 813.858247 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.001191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799583; longitude = -118.647271; captureRadius = 10; duration = 253; initialDepth = 803.995524; finalDepth = 796.001191; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 14.027734 # Actual altitude: 20 # Commanded vehicle depth: 796.001191 # Seafloor depth: -806.001191 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.273498 meters # Minimum depth: 813.995524 meters looking forward 100.000000 meters along route # Maximum depth: 815.031558 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 803.995524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800079; longitude = -118.648189; captureRadius = 10; duration = 253; initialDepth = 804.737509; finalDepth = 803.995524; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 803.995524 # Seafloor depth: -813.995524 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.273121 meters # Minimum depth: 814.737509 meters looking forward 100.000000 meters along route # Maximum depth: 814.934493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.737509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800575; longitude = -118.649107; captureRadius = 10; duration = 253; initialDepth = 804.810882; finalDepth = 804.737509; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10.1969839999999 # Actual altitude: 20 # Commanded vehicle depth: 804.737509 # Seafloor depth: -814.934493 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.272744 meters # Minimum depth: 814.810882 meters looking forward 100.000000 meters along route # Maximum depth: 815.101613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.810882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801072; longitude = -118.650026; captureRadius = 10; duration = 253; initialDepth = 805.106633; finalDepth = 804.810882; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10.1969839999999 # Actual altitude: 20 # Commanded vehicle depth: 804.810882 # Seafloor depth: -814.864606 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.272366 meters # Minimum depth: 815.106633 meters looking forward 100.000000 meters along route # Maximum depth: 816.433396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 805.106633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801568; longitude = -118.650944; captureRadius = 10; duration = 253; initialDepth = 806.475320; finalDepth = 805.106633; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10.053724 # Actual altitude: 20 # Commanded vehicle depth: 805.106633 # Seafloor depth: -815.106633 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.271988 meters # Minimum depth: 816.475320 meters looking forward 100.000000 meters along route # Maximum depth: 817.794639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 806.475320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802064; longitude = -118.651862; captureRadius = 10; duration = 253; initialDepth = 807.841364; finalDepth = 806.475320; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 806.47532 # Seafloor depth: -816.475320 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.271611 meters # Minimum depth: 817.841364 meters looking forward 100.000000 meters along route # Maximum depth: 819.045870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 807.841364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802560; longitude = -118.652780; captureRadius = 10; duration = 253; initialDepth = 809.102412; finalDepth = 807.841364; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 807.841364 # Seafloor depth: -817.841364 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.271234 meters # Minimum depth: 819.102412 meters looking forward 100.000000 meters along route # Maximum depth: 819.647540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.102412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803057; longitude = -118.653698; captureRadius = 10; duration = 253; initialDepth = 809.641609; finalDepth = 809.102412; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 809.102412 # Seafloor depth: -819.102412 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.013233 meters # Minimum depth: 819.641609 meters looking forward 100.000000 meters along route # Maximum depth: 820.607785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.641609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803553; longitude = -118.654616; captureRadius = 10; duration = 252; initialDepth = 809.750942; finalDepth = 809.641609; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 10.0292919999999 # Actual altitude: 20 # Commanded vehicle depth: 809.641609 # Seafloor depth: -819.670901 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; 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 17 # Segment length 40.063082 meters # Minimum depth: 819.750942 meters looking forward 100.000000 meters along route # Maximum depth: 821.491632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.750942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804048; longitude = -118.655532; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 810.569618; finalDepth = 809.750942; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 10.856816 # Actual altitude: 20 # Commanded vehicle depth: 809.750942 # Seafloor depth: -820.607758 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 108.295424 meters # Minimum depth: 820.569618 meters looking forward 100.000000 meters along route # Maximum depth: 821.588318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 810.569618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804338; longitude = -118.655274; captureRadius = 10; duration = 270; # abortOnTimeout = True; initialDepth = 809.855962; finalDepth = 810.569618; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 11.0187 # Actual altitude: 20 # Commanded vehicle depth: 810.569618 # Seafloor depth: -821.588318 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.268485 meters # Minimum depth: 819.855962 meters looking forward 100.000000 meters along route # Maximum depth: 820.527981 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.855962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803807; longitude = -118.654292; captureRadius = 10; duration = 253; initialDepth = 808.801015; finalDepth = 809.855962; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 11.0187 # Actual altitude: 20 # Commanded vehicle depth: 809.855962 # Seafloor depth: -820.527981 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.268861 meters # Minimum depth: 818.801015 meters looking forward 100.000000 meters along route # Maximum depth: 819.836086 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 808.801015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803311; longitude = -118.653374; captureRadius = 10; duration = 253; initialDepth = 807.674583; finalDepth = 808.801015; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 11.035071 # Actual altitude: 20 # Commanded vehicle depth: 808.801015 # Seafloor depth: -819.836086 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.269239 meters # Minimum depth: 817.674583 meters looking forward 100.000000 meters along route # Maximum depth: 818.749490 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 807.674583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802815; longitude = -118.652456; captureRadius = 10; duration = 253; initialDepth = 806.242289; finalDepth = 807.674583; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 11.0749070000001 # Actual altitude: 20 # Commanded vehicle depth: 807.674583 # Seafloor depth: -818.749490 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.269617 meters # Minimum depth: 816.242289 meters looking forward 100.000000 meters along route # Maximum depth: 817.671522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 806.242289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802319; longitude = -118.651538; captureRadius = 10; duration = 253; initialDepth = 805.700374; finalDepth = 806.242289; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 11.429233 # Actual altitude: 20 # Commanded vehicle depth: 806.242289 # Seafloor depth: -817.671522 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.269994 meters # Minimum depth: 815.700374 meters looking forward 100.000000 meters along route # Maximum depth: 816.268577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 805.700374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801822; longitude = -118.650620; captureRadius = 10; duration = 253; initialDepth = 805.202000; finalDepth = 805.700374; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 11.429233 # Actual altitude: 20 # Commanded vehicle depth: 805.700374 # Seafloor depth: -816.240232 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.270371 meters # Minimum depth: 815.202000 meters looking forward 100.000000 meters along route # Maximum depth: 815.680837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 805.202000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801326; longitude = -118.649701; captureRadius = 10; duration = 253; initialDepth = 804.129389; finalDepth = 805.202000; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10.539858 # Actual altitude: 20 # Commanded vehicle depth: 805.202 # Seafloor depth: -815.680837 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.270748 meters # Minimum depth: 814.129389 meters looking forward 100.000000 meters along route # Maximum depth: 815.336341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.129389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800830; longitude = -118.648783; captureRadius = 10; duration = 253; initialDepth = 798.924841; finalDepth = 804.129389; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 11.187576 # Actual altitude: 20 # Commanded vehicle depth: 804.129389 # Seafloor depth: -815.316965 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.340772 meters # Minimum depth: 808.924841 meters looking forward 100.000000 meters along route # Maximum depth: 813.953683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 798.924841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800334; longitude = -118.647865; captureRadius = 10; duration = 253; initialDepth = 795.109251; finalDepth = 798.924841; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 15.0288419999999 # Actual altitude: 20 # Commanded vehicle depth: 798.924841 # Seafloor depth: -813.953683 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.201858 meters # Minimum depth: 805.109251 meters looking forward 100.000000 meters along route # Maximum depth: 813.010965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.109251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799837; longitude = -118.646946; captureRadius = 10; duration = 253; initialDepth = 803.220465; finalDepth = 795.109251; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 15.0288419999999 # Actual altitude: 20 # Commanded vehicle depth: 795.109251 # Seafloor depth: -808.915904 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.271881 meters # Minimum depth: 813.220465 meters looking forward 100.000000 meters along route # Maximum depth: 820.319141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 803.220465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799341; longitude = -118.646029; captureRadius = 10; duration = 253; initialDepth = 810.498201; finalDepth = 803.220465; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 13.806653 # Actual altitude: 20 # Commanded vehicle depth: 803.220465 # Seafloor depth: -813.220465 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.272258 meters # Minimum depth: 820.498201 meters looking forward 100.000000 meters along route # Maximum depth: 822.823127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 810.498201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798845; longitude = -118.645111; captureRadius = 10; duration = 253; initialDepth = 813.006417; finalDepth = 810.498201; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 810.498201 # Seafloor depth: -820.498201 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.272635 meters # Minimum depth: 823.006417 meters looking forward 100.000000 meters along route # Maximum depth: 825.312968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 813.006417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798349; longitude = -118.644193; captureRadius = 10; duration = 253; initialDepth = 815.560235; finalDepth = 813.006417; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 813.006417 # Seafloor depth: -823.006417 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.981230 meters # Minimum depth: 825.560235 meters looking forward 100.000000 meters along route # Maximum depth: 829.388231 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 815.560235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797852; longitude = -118.643275; captureRadius = 10; duration = 254; initialDepth = 819.413165; finalDepth = 815.560235; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 815.560235 # Seafloor depth: -825.560235 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.565174 meters # Minimum depth: 829.413165 meters looking forward 100.000000 meters along route # Maximum depth: 834.417003 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 819.413165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797353; longitude = -118.642350; captureRadius = 10; duration = 251; initialDepth = 824.496331; finalDepth = 819.413165; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 819.413165 # Seafloor depth: -829.413165 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 105.476530 meters # Minimum depth: 834.496331 meters looking forward 100.000000 meters along route # Maximum depth: 841.638907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 824.496331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796860; longitude = -118.641438; captureRadius = 10; duration = 263; initialDepth = 828.487722; finalDepth = 824.496331; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 824.496331 # Seafloor depth: -834.496331 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; 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 15 # Segment length 50.078693 meters # Minimum depth: 838.487722 meters looking forward 100.000000 meters along route # Maximum depth: 841.888918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 828.487722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796343; longitude = -118.640482; captureRadius = 10; duration = 125; # abortOnTimeout = True; initialDepth = 822.973873; finalDepth = 828.487722; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 13.363322 # Actual altitude: 20 # Commanded vehicle depth: 828.487722 # Seafloor depth: -841.851044 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 108.795316 meters # Minimum depth: 832.973873 meters looking forward 100.000000 meters along route # Maximum depth: 840.625687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 822.973873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795964; longitude = -118.640776; captureRadius = 10; duration = 271; # abortOnTimeout = True; initialDepth = 818.805293; finalDepth = 822.973873; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 17.6518139999999 # Actual altitude: 20 # Commanded vehicle depth: 822.973873 # Seafloor depth: -840.625687 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.277442 meters # Minimum depth: 828.805293 meters looking forward 100.000000 meters along route # Maximum depth: 832.875699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 818.805293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796497; longitude = -118.641762; captureRadius = 10; duration = 253; initialDepth = 815.965021; finalDepth = 818.805293; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 17.6518139999999 # Actual altitude: 20 # Commanded vehicle depth: 818.805293 # Seafloor depth: -832.875699 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.277066 meters # Minimum depth: 825.965021 meters looking forward 100.000000 meters along route # Maximum depth: 828.692227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 815.965021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796993; longitude = -118.642680; captureRadius = 10; duration = 253; initialDepth = 813.701488; finalDepth = 815.965021; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 14.070406 # Actual altitude: 20 # Commanded vehicle depth: 815.965021 # Seafloor depth: -828.692227 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.276687 meters # Minimum depth: 823.701488 meters looking forward 100.000000 meters along route # Maximum depth: 825.760069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 813.701488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797490; longitude = -118.643599; captureRadius = 10; duration = 253; initialDepth = 810.994534; finalDepth = 813.701488; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 12.727206 # Actual altitude: 20 # Commanded vehicle depth: 813.701488 # Seafloor depth: -825.760069 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.173800 meters # Minimum depth: 820.994534 meters looking forward 100.000000 meters along route # Maximum depth: 823.591415 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 810.994534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797986; longitude = -118.644517; captureRadius = 10; duration = 255; initialDepth = 796.949224; finalDepth = 810.994534; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 12.5968809999999 # Actual altitude: 20 # Commanded vehicle depth: 810.994534 # Seafloor depth: -823.591415 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.378443 meters # Minimum depth: 806.949224 meters looking forward 100.000000 meters along route # Maximum depth: 820.948472 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.949224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798487; longitude = -118.645443; captureRadius = 10; duration = 250; initialDepth = 791.617040; finalDepth = 796.949224; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 23.9992480000001 # Actual altitude: 23.9992480000001 # Commanded vehicle depth: 796.949224 # Seafloor depth: -820.948472 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 96.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.60; MB_Bottom_Detect_Filter_Max_Range = 96.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 96.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.275555 meters # Minimum depth: 801.617040 meters looking forward 100.000000 meters along route # Maximum depth: 806.748705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 791.617040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798979; longitude = -118.646353; captureRadius = 10; duration = 253; initialDepth = 794.448352; finalDepth = 791.617040; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 23.9992480000001 # Actual altitude: 23.9992480000001 # Commanded vehicle depth: 791.61704 # Seafloor depth: -806.748705 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 96.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.60; MB_Bottom_Detect_Filter_Max_Range = 96.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 96.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.275178 meters # Minimum depth: 804.448352 meters looking forward 100.000000 meters along route # Maximum depth: 814.704134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.448352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799475; longitude = -118.647271; captureRadius = 10; duration = 253; initialDepth = 804.558068; finalDepth = 794.448352; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 15.131665 # Actual altitude: 20 # Commanded vehicle depth: 794.448352 # Seafloor depth: -804.448352 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.274801 meters # Minimum depth: 814.558068 meters looking forward 100.000000 meters along route # Maximum depth: 815.160996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.558068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799971; longitude = -118.648189; captureRadius = 10; duration = 253; initialDepth = 804.694205; finalDepth = 804.558068; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10.1997289999999 # Actual altitude: 20 # Commanded vehicle depth: 804.558068 # Seafloor depth: -814.757797 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.274423 meters # Minimum depth: 814.694205 meters looking forward 100.000000 meters along route # Maximum depth: 815.006041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.694205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800468; longitude = -118.649107; captureRadius = 10; duration = 253; initialDepth = 804.665155; finalDepth = 804.694205; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10.311836 # Actual altitude: 20 # Commanded vehicle depth: 804.694205 # Seafloor depth: -815.006041 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.274045 meters # Minimum depth: 814.665155 meters looking forward 100.000000 meters along route # Maximum depth: 814.958860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.665155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800964; longitude = -118.650026; captureRadius = 10; duration = 253; initialDepth = 804.961329; finalDepth = 804.665155; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10.311836 # Actual altitude: 20 # Commanded vehicle depth: 804.665155 # Seafloor depth: -814.751846 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.273669 meters # Minimum depth: 814.961329 meters looking forward 100.000000 meters along route # Maximum depth: 816.095424 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.961329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801460; longitude = -118.650944; captureRadius = 10; duration = 253; initialDepth = 806.136416; finalDepth = 804.961329; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10.086691 # Actual altitude: 20 # Commanded vehicle depth: 804.961329 # Seafloor depth: -814.961329 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.273290 meters # Minimum depth: 816.136416 meters looking forward 100.000000 meters along route # Maximum depth: 817.552641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 806.136416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801957; longitude = -118.651862; captureRadius = 10; duration = 253; initialDepth = 807.610245; finalDepth = 806.136416; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 806.136416 # Seafloor depth: -816.136416 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.272914 meters # Minimum depth: 817.610245 meters looking forward 100.000000 meters along route # Maximum depth: 818.877600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 807.610245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802453; longitude = -118.652780; captureRadius = 10; duration = 253; initialDepth = 808.935140; finalDepth = 807.610245; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 807.610245 # Seafloor depth: -817.610245 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.320306 meters # Minimum depth: 818.935140 meters looking forward 100.000000 meters along route # Maximum depth: 819.563820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 808.935140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802949; longitude = -118.653698; captureRadius = 10; duration = 258; initialDepth = 809.504988; finalDepth = 808.935140; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 808.93514 # Seafloor depth: -818.935140 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.937621 meters # Minimum depth: 819.504988 meters looking forward 100.000000 meters along route # Maximum depth: 820.519697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.504988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803456; longitude = -118.654635; captureRadius = 10; duration = 257; initialDepth = 809.587896; finalDepth = 809.504988; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 10.054039 # Actual altitude: 20 # Commanded vehicle depth: 809.504988 # Seafloor depth: -819.559027 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; 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 13 # Segment length 40.063096 meters # Minimum depth: 819.587896 meters looking forward 100.000000 meters along route # Maximum depth: 821.188673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.587896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803960; longitude = -118.655568; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 810.245796; finalDepth = 809.587896; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 10.99618 # Actual altitude: 20 # Commanded vehicle depth: 809.587896 # Seafloor depth: -820.584076 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 107.011438 meters # Minimum depth: 820.245796 meters looking forward 100.000000 meters along route # Maximum depth: 821.188019 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 810.245796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804250; longitude = -118.655310; captureRadius = 10; duration = 267; # abortOnTimeout = True; initialDepth = 809.596192; finalDepth = 810.245796; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10.99618 # Actual altitude: 20 # Commanded vehicle depth: 810.245796 # Seafloor depth: -821.188019 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 100.573008 meters # Minimum depth: 819.596192 meters looking forward 100.000000 meters along route # Maximum depth: 820.239204 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.596192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803726; longitude = -118.654340; captureRadius = 10; duration = 251; initialDepth = 808.430362; finalDepth = 809.596192; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10.942223 # Actual altitude: 20 # Commanded vehicle depth: 809.596192 # Seafloor depth: -820.239204 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.272167 meters # Minimum depth: 818.430362 meters looking forward 100.000000 meters along route # Maximum depth: 819.584927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 808.430362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803233; longitude = -118.653428; captureRadius = 10; duration = 253; initialDepth = 807.368937; finalDepth = 808.430362; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 11.154565 # Actual altitude: 20 # Commanded vehicle depth: 808.430362 # Seafloor depth: -819.584927 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.272544 meters # Minimum depth: 817.368937 meters looking forward 100.000000 meters along route # Maximum depth: 818.416179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 807.368937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802736; longitude = -118.652510; captureRadius = 10; duration = 253; initialDepth = 805.951370; finalDepth = 807.368937; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 11.154565 # Actual altitude: 20 # Commanded vehicle depth: 807.368937 # Seafloor depth: -818.416179 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.272921 meters # Minimum depth: 815.951370 meters looking forward 100.000000 meters along route # Maximum depth: 817.338832 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 805.951370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802240; longitude = -118.651592; captureRadius = 10; duration = 253; initialDepth = 805.412478; finalDepth = 805.951370; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 11.387462 # Actual altitude: 20 # Commanded vehicle depth: 805.95137 # Seafloor depth: -817.338832 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.273298 meters # Minimum depth: 815.412478 meters looking forward 100.000000 meters along route # Maximum depth: 815.945941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 805.412478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801744; longitude = -118.650674; captureRadius = 10; duration = 253; initialDepth = 804.991998; finalDepth = 805.412478; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 11.387462 # Actual altitude: 20 # Commanded vehicle depth: 805.412478 # Seafloor depth: -815.945941 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.273676 meters # Minimum depth: 814.991998 meters looking forward 100.000000 meters along route # Maximum depth: 815.418897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.991998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801247; longitude = -118.649755; captureRadius = 10; duration = 253; initialDepth = 803.690726; finalDepth = 804.991998; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10.533463 # Actual altitude: 20 # Commanded vehicle depth: 804.991998 # Seafloor depth: -815.418897 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.274054 meters # Minimum depth: 813.690726 meters looking forward 100.000000 meters along route # Maximum depth: 815.139028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 803.690726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800751; longitude = -118.648837; captureRadius = 10; duration = 253; initialDepth = 797.334074; finalDepth = 803.690726; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 11.448302 # Actual altitude: 20 # Commanded vehicle depth: 803.690726 # Seafloor depth: -815.139028 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.274430 meters # Minimum depth: 807.334074 meters looking forward 100.000000 meters along route # Maximum depth: 813.576055 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.334074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800255; longitude = -118.647919; captureRadius = 10; duration = 253; initialDepth = 792.417289; finalDepth = 797.334074; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 16.241981 # Actual altitude: 20 # Commanded vehicle depth: 797.334074 # Seafloor depth: -813.576055 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.274809 meters # Minimum depth: 802.417289 meters looking forward 100.000000 meters along route # Maximum depth: 810.963001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 792.417289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799759; longitude = -118.647001; captureRadius = 10; duration = 253; initialDepth = 801.689418; finalDepth = 792.417289; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 16.241981 # Actual altitude: 20 # Commanded vehicle depth: 792.417289 # Seafloor depth: -806.442314 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.275185 meters # Minimum depth: 811.689418 meters looking forward 100.000000 meters along route # Maximum depth: 820.285768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 801.689418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799262; longitude = -118.646083; captureRadius = 10; duration = 253; initialDepth = 810.504891; finalDepth = 801.689418; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 14.025025 # Actual altitude: 20 # Commanded vehicle depth: 801.689418 # Seafloor depth: -811.689418 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.275564 meters # Minimum depth: 820.504891 meters looking forward 100.000000 meters along route # Maximum depth: 823.018697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 810.504891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798766; longitude = -118.645165; captureRadius = 10; duration = 253; initialDepth = 813.023441; finalDepth = 810.504891; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 810.504891 # Seafloor depth: -820.504891 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.275940 meters # Minimum depth: 823.023441 meters looking forward 100.000000 meters along route # Maximum depth: 825.416543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 813.023441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798270; longitude = -118.644247; captureRadius = 10; duration = 253; initialDepth = 815.519641; finalDepth = 813.023441; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 813.023441 # Seafloor depth: -823.023441 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.276318 meters # Minimum depth: 825.519641 meters looking forward 100.000000 meters along route # Maximum depth: 828.972139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 815.519641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797773; longitude = -118.643329; captureRadius = 10; duration = 253; initialDepth = 819.149232; finalDepth = 815.519641; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 815.519641 # Seafloor depth: -825.519641 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.276696 meters # Minimum depth: 829.149232 meters looking forward 100.000000 meters along route # Maximum depth: 833.844340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 819.149232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797277; longitude = -118.642410; captureRadius = 10; duration = 253; initialDepth = 824.206829; finalDepth = 819.149232; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 819.149232 # Seafloor depth: -829.149232 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 102.392251 meters # Minimum depth: 834.206829 meters looking forward 100.000000 meters along route # Maximum depth: 841.360814 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 824.206829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796781; longitude = -118.641492; captureRadius = 10; duration = 255; initialDepth = 827.873474; finalDepth = 824.206829; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 824.206829 # Seafloor depth: -834.206829 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; 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 11 # Segment length 49.935285 meters # Minimum depth: 837.873474 meters looking forward 100.000000 meters along route # Maximum depth: 841.543732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 827.873474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796279; longitude = -118.640564; captureRadius = 10; duration = 124; # abortOnTimeout = True; initialDepth = 823.086605; finalDepth = 827.873474; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 13.670258 # Actual altitude: 20 # Commanded vehicle depth: 827.873474 # Seafloor depth: -841.543732 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 105.815304 meters # Minimum depth: 833.086605 meters looking forward 100.000000 meters along route # Maximum depth: 840.169739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 823.086605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795901; longitude = -118.640857; captureRadius = 10; duration = 264; # abortOnTimeout = True; initialDepth = 818.807349; finalDepth = 823.086605; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 17.0831340000001 # Actual altitude: 20 # Commanded vehicle depth: 823.086605 # Seafloor depth: -840.169739 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 102.248908 meters # Minimum depth: 828.807349 meters looking forward 100.000000 meters along route # Maximum depth: 832.726413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 818.807349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796420; longitude = -118.641816; captureRadius = 10; duration = 255; initialDepth = 816.088701; finalDepth = 818.807349; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 17.0831340000001 # Actual altitude: 20 # Commanded vehicle depth: 818.807349 # Seafloor depth: -832.726413 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.300668 meters # Minimum depth: 826.088701 meters looking forward 100.000000 meters along route # Maximum depth: 828.777337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 816.088701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796921; longitude = -118.642743; captureRadius = 10; duration = 250; initialDepth = 813.925103; finalDepth = 816.088701; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 13.9190639999999 # Actual altitude: 20 # Commanded vehicle depth: 816.088701 # Seafloor depth: -828.777337 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.274222 meters # Minimum depth: 823.925103 meters looking forward 100.000000 meters along route # Maximum depth: 826.048591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 813.925103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797412; longitude = -118.643653; captureRadius = 10; duration = 253; initialDepth = 811.521098; finalDepth = 813.925103; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 12.688636 # Actual altitude: 20 # Commanded vehicle depth: 813.925103 # Seafloor depth: -826.048591 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.273844 meters # Minimum depth: 821.521098 meters looking forward 100.000000 meters along route # Maximum depth: 823.867136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 811.521098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797908; longitude = -118.644571; captureRadius = 10; duration = 253; initialDepth = 797.998331; finalDepth = 811.521098; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 12.3460379999999 # Actual altitude: 20 # Commanded vehicle depth: 811.521098 # Seafloor depth: -823.867136 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.273467 meters # Minimum depth: 807.998331 meters looking forward 100.000000 meters along route # Maximum depth: 821.334605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.998331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798405; longitude = -118.645489; captureRadius = 10; duration = 253; initialDepth = 791.549945; finalDepth = 797.998331; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 23.336274 # Actual altitude: 23.336274 # Commanded vehicle depth: 797.998331 # Seafloor depth: -821.334605 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 93.35; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.33; MB_Bottom_Detect_Filter_Max_Range = 93.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 93.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.273090 meters # Minimum depth: 801.549945 meters looking forward 100.000000 meters along route # Maximum depth: 807.114463 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 791.549945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798901; longitude = -118.646407; captureRadius = 10; duration = 253; initialDepth = 794.253351; finalDepth = 791.549945; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 23.336274 # Actual altitude: 23.336274 # Commanded vehicle depth: 791.549945 # Seafloor depth: -807.114463 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 93.35; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.33; MB_Bottom_Detect_Filter_Max_Range = 93.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 93.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.272712 meters # Minimum depth: 804.253351 meters looking forward 100.000000 meters along route # Maximum depth: 815.736962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.253351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799397; longitude = -118.647325; captureRadius = 10; duration = 253; initialDepth = 805.206122; finalDepth = 794.253351; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 15.564518 # Actual altitude: 20 # Commanded vehicle depth: 794.253351 # Seafloor depth: -804.253351 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.272334 meters # Minimum depth: 815.206122 meters looking forward 100.000000 meters along route # Maximum depth: 815.498359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 805.206122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799893; longitude = -118.648243; captureRadius = 10; duration = 253; initialDepth = 804.665465; finalDepth = 805.206122; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10.292237 # Actual altitude: 20 # Commanded vehicle depth: 805.206122 # Seafloor depth: -815.498359 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.271958 meters # Minimum depth: 814.665465 meters looking forward 100.000000 meters along route # Maximum depth: 815.170174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.665465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800390; longitude = -118.649161; captureRadius = 10; duration = 253; initialDepth = 804.623533; finalDepth = 804.665465; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10.5047089999999 # Actual altitude: 20 # Commanded vehicle depth: 804.665465 # Seafloor depth: -815.170174 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.271580 meters # Minimum depth: 814.623533 meters looking forward 100.000000 meters along route # Maximum depth: 814.909458 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.623533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800886; longitude = -118.650080; captureRadius = 10; duration = 253; initialDepth = 804.919042; finalDepth = 804.623533; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10.5047089999999 # Actual altitude: 20 # Commanded vehicle depth: 804.623533 # Seafloor depth: -814.670739 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.271202 meters # Minimum depth: 814.919042 meters looking forward 100.000000 meters along route # Maximum depth: 815.874377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.919042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801382; longitude = -118.650998; captureRadius = 10; duration = 253; initialDepth = 805.938148; finalDepth = 804.919042; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10.0472060000001 # Actual altitude: 20 # Commanded vehicle depth: 804.919042 # Seafloor depth: -814.955853 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.400216 meters # Minimum depth: 815.938148 meters looking forward 100.000000 meters along route # Maximum depth: 817.629056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 805.938148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801878; longitude = -118.651916; captureRadius = 10; duration = 253; initialDepth = 807.630739; finalDepth = 805.938148; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10.0368110000001 # Actual altitude: 20 # Commanded vehicle depth: 805.938148 # Seafloor depth: -815.938148 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.141058 meters # Minimum depth: 817.630739 meters looking forward 100.000000 meters along route # Maximum depth: 818.852446 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 807.630739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802375; longitude = -118.652835; captureRadius = 10; duration = 252; initialDepth = 808.878203; finalDepth = 807.630739; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 807.630739 # Seafloor depth: -817.630739 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.270070 meters # Minimum depth: 818.878203 meters looking forward 100.000000 meters along route # Maximum depth: 819.440571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 808.878203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802871; longitude = -118.653752; captureRadius = 10; duration = 253; initialDepth = 809.385534; finalDepth = 808.878203; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 808.878203 # Seafloor depth: -818.878203 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.996568 meters # Minimum depth: 819.385534 meters looking forward 100.000000 meters along route # Maximum depth: 820.693260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.385534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803367; longitude = -118.654670; captureRadius = 10; duration = 257; initialDepth = 809.532703; finalDepth = 809.385534; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 10.0611 # Actual altitude: 20 # Commanded vehicle depth: 809.385534 # Seafloor depth: -819.446634 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; 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 9 # Segment length 40.063110 meters # Minimum depth: 819.532703 meters looking forward 100.000000 meters along route # Maximum depth: 820.964247 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.532703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803872; longitude = -118.655604; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 810.000911; finalDepth = 809.532703; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 11.2917600000001 # Actual altitude: 20 # Commanded vehicle depth: 809.532703 # Seafloor depth: -820.824463 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 98.366801 meters # Minimum depth: 820.000911 meters looking forward 100.000000 meters along route # Maximum depth: 821.007629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 810.000911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804162; longitude = -118.655346; captureRadius = 10; duration = 245; # abortOnTimeout = True; initialDepth = 809.378689; finalDepth = 810.000911; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 11.2917600000001 # Actual altitude: 20 # Commanded vehicle depth: 810.000911 # Seafloor depth: -821.007629 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.269292 meters # Minimum depth: 819.378689 meters looking forward 100.000000 meters along route # Maximum depth: 820.053708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.378689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803680; longitude = -118.654454; captureRadius = 10; duration = 253; initialDepth = 808.214595; finalDepth = 809.378689; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 11.006718 # Actual altitude: 20 # Commanded vehicle depth: 809.378689 # Seafloor depth: -820.053708 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.269669 meters # Minimum depth: 818.214595 meters looking forward 100.000000 meters along route # Maximum depth: 819.376683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 808.214595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803184; longitude = -118.653536; captureRadius = 10; duration = 253; initialDepth = 807.098954; finalDepth = 808.214595; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 11.1620879999999 # Actual altitude: 20 # Commanded vehicle depth: 808.214595 # Seafloor depth: -819.376683 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.270046 meters # Minimum depth: 817.098954 meters looking forward 100.000000 meters along route # Maximum depth: 818.190523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 807.098954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802687; longitude = -118.652618; captureRadius = 10; duration = 253; initialDepth = 805.714434; finalDepth = 807.098954; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 11.1620879999999 # Actual altitude: 20 # Commanded vehicle depth: 807.098954 # Seafloor depth: -818.190523 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.270424 meters # Minimum depth: 815.714434 meters looking forward 100.000000 meters along route # Maximum depth: 817.060285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 805.714434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802191; longitude = -118.651700; captureRadius = 10; duration = 253; initialDepth = 805.177291; finalDepth = 805.714434; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 11.345851 # Actual altitude: 20 # Commanded vehicle depth: 805.714434 # Seafloor depth: -817.060285 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.270802 meters # Minimum depth: 815.177291 meters looking forward 100.000000 meters along route # Maximum depth: 815.681762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 805.177291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801695; longitude = -118.650782; captureRadius = 10; duration = 253; initialDepth = 804.852019; finalDepth = 805.177291; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 11.345851 # Actual altitude: 20 # Commanded vehicle depth: 805.177291 # Seafloor depth: -815.681762 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.533601 meters # Minimum depth: 814.852019 meters looking forward 100.000000 meters along route # Maximum depth: 815.208487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.852019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801199; longitude = -118.649863; captureRadius = 10; duration = 253; initialDepth = 803.791134; finalDepth = 804.852019; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10.5044710000001 # Actual altitude: 20 # Commanded vehicle depth: 804.852019 # Seafloor depth: -815.208487 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.009133 meters # Minimum depth: 813.791134 meters looking forward 100.000000 meters along route # Maximum depth: 815.075731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 803.791134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800701; longitude = -118.648943; captureRadius = 10; duration = 252; initialDepth = 796.586578; finalDepth = 803.791134; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 11.233308 # Actual altitude: 20 # Commanded vehicle depth: 803.791134 # Seafloor depth: -815.024442 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.271934 meters # Minimum depth: 806.586578 meters looking forward 100.000000 meters along route # Maximum depth: 813.746617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.586578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800206; longitude = -118.648027; captureRadius = 10; duration = 253; initialDepth = 789.716894; finalDepth = 796.586578; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 17.160039 # Actual altitude: 20 # Commanded vehicle depth: 796.586578 # Seafloor depth: -813.746617 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.272311 meters # Minimum depth: 799.716894 meters looking forward 100.000000 meters along route # Maximum depth: 807.771938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 789.716894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799710; longitude = -118.647109; captureRadius = 10; duration = 253; initialDepth = 799.066899; finalDepth = 789.716894; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 17.160039 # Actual altitude: 20 # Commanded vehicle depth: 789.716894 # Seafloor depth: -806.035253 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.272688 meters # Minimum depth: 809.066899 meters looking forward 100.000000 meters along route # Maximum depth: 820.022839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.066899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799214; longitude = -118.646191; captureRadius = 10; duration = 253; initialDepth = 810.364605; finalDepth = 799.066899; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 16.318359 # Actual altitude: 20 # Commanded vehicle depth: 799.066899 # Seafloor depth: -809.066899 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 102.162257 meters # Minimum depth: 820.364605 meters looking forward 100.000000 meters along route # Maximum depth: 822.934622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 810.364605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798717; longitude = -118.645273; captureRadius = 10; duration = 255; initialDepth = 812.952978; finalDepth = 810.364605; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 810.364605 # Seafloor depth: -820.364605 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.384252 meters # Minimum depth: 822.952978 meters looking forward 100.000000 meters along route # Maximum depth: 825.295336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 812.952978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798217; longitude = -118.644347; captureRadius = 10; duration = 250; initialDepth = 815.349282; finalDepth = 812.952978; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 812.952978 # Seafloor depth: -822.952978 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.273820 meters # Minimum depth: 825.349282 meters looking forward 100.000000 meters along route # Maximum depth: 828.675506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 815.349282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797725; longitude = -118.643437; captureRadius = 10; duration = 253; initialDepth = 818.801441; finalDepth = 815.349282; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 815.349282 # Seafloor depth: -825.349282 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.274198 meters # Minimum depth: 828.801441 meters looking forward 100.000000 meters along route # Maximum depth: 833.202885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 818.801441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797229; longitude = -118.642518; captureRadius = 10; duration = 253; initialDepth = 823.566998; finalDepth = 818.801441; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 818.801441 # Seafloor depth: -828.801441 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 105.369726 meters # Minimum depth: 833.566998 meters looking forward 100.000000 meters along route # Maximum depth: 840.884253 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 823.566998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796732; longitude = -118.641600; captureRadius = 10; duration = 263; initialDepth = 827.672802; finalDepth = 823.566998; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 823.566998 # Seafloor depth: -833.566998 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; 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 7 # Segment length 50.078717 meters # Minimum depth: 837.672802 meters looking forward 100.000000 meters along route # Maximum depth: 840.884253 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 827.672802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796216; longitude = -118.640645; captureRadius = 10; duration = 125; # abortOnTimeout = True; initialDepth = 822.828656; finalDepth = 827.672802; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 13.2097209999999 # Actual altitude: 20 # Commanded vehicle depth: 827.672802 # Seafloor depth: -840.882523 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 102.731001 meters # Minimum depth: 832.828656 meters looking forward 100.000000 meters along route # Maximum depth: 840.065094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 822.828656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795837; longitude = -118.640939; captureRadius = 10; duration = 256; # abortOnTimeout = True; initialDepth = 819.115688; finalDepth = 822.828656; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 17.236438 # Actual altitude: 20 # Commanded vehicle depth: 822.828656 # Seafloor depth: -840.065094 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.278295 meters # Minimum depth: 829.115688 meters looking forward 100.000000 meters along route # Maximum depth: 832.663496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 819.115688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796340; longitude = -118.641870; captureRadius = 10; duration = 253; initialDepth = 816.493649; finalDepth = 819.115688; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 17.236438 # Actual altitude: 20 # Commanded vehicle depth: 819.115688 # Seafloor depth: -832.663496 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.277918 meters # Minimum depth: 826.493649 meters looking forward 100.000000 meters along route # Maximum depth: 828.962149 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 816.493649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796837; longitude = -118.642788; captureRadius = 10; duration = 253; initialDepth = 814.360983; finalDepth = 816.493649; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 13.547808 # Actual altitude: 20 # Commanded vehicle depth: 816.493649 # Seafloor depth: -828.962149 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.277541 meters # Minimum depth: 824.360983 meters looking forward 100.000000 meters along route # Maximum depth: 826.345750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 814.360983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797333; longitude = -118.643707; captureRadius = 10; duration = 253; initialDepth = 811.749207; finalDepth = 814.360983; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 12.4684999999999 # Actual altitude: 20 # Commanded vehicle depth: 814.360983 # Seafloor depth: -826.345750 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.277163 meters # Minimum depth: 821.749207 meters looking forward 100.000000 meters along route # Maximum depth: 824.256832 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 811.749207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797829; longitude = -118.644625; captureRadius = 10; duration = 253; initialDepth = 798.277541; finalDepth = 811.749207; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 12.5076250000001 # Actual altitude: 20 # Commanded vehicle depth: 811.749207 # Seafloor depth: -824.256832 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.276786 meters # Minimum depth: 808.277541 meters looking forward 100.000000 meters along route # Maximum depth: 821.742888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 798.277541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798326; longitude = -118.645543; captureRadius = 10; duration = 253; initialDepth = 791.621325; finalDepth = 798.277541; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 23.465347 # Actual altitude: 23.465347 # Commanded vehicle depth: 798.277541 # Seafloor depth: -821.742888 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 93.86; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.39; MB_Bottom_Detect_Filter_Max_Range = 93.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 93.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.276408 meters # Minimum depth: 801.621325 meters looking forward 100.000000 meters along route # Maximum depth: 807.941992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 791.621325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798822; longitude = -118.646461; captureRadius = 10; duration = 253; initialDepth = 795.782833; finalDepth = 791.621325; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 23.465347 # Actual altitude: 23.465347 # Commanded vehicle depth: 791.621325 # Seafloor depth: -807.941992 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 93.86; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.39; MB_Bottom_Detect_Filter_Max_Range = 93.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 93.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.276030 meters # Minimum depth: 805.782833 meters looking forward 100.000000 meters along route # Maximum depth: 816.822751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.782833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799318; longitude = -118.647379; captureRadius = 10; duration = 253; initialDepth = 805.530728; finalDepth = 795.782833; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 16.3206670000001 # Actual altitude: 20 # Commanded vehicle depth: 795.782833 # Seafloor depth: -805.782833 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.275654 meters # Minimum depth: 815.530728 meters looking forward 100.000000 meters along route # Maximum depth: 816.069592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 805.530728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799815; longitude = -118.648297; captureRadius = 10; duration = 253; initialDepth = 804.568853; finalDepth = 805.530728; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10.395032 # Actual altitude: 20 # Commanded vehicle depth: 805.530728 # Seafloor depth: -815.925760 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.641643 meters # Minimum depth: 814.568853 meters looking forward 100.000000 meters along route # Maximum depth: 815.410468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.568853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800311; longitude = -118.649215; captureRadius = 10; duration = 254; initialDepth = 804.557738; finalDepth = 804.568853; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10.841615 # Actual altitude: 20 # Commanded vehicle depth: 804.568853 # Seafloor depth: -815.410468 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.908531 meters # Minimum depth: 814.557738 meters looking forward 100.000000 meters along route # Maximum depth: 814.817576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.557738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800809; longitude = -118.650137; captureRadius = 10; duration = 252; initialDepth = 804.823887; finalDepth = 804.557738; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10.841615 # Actual altitude: 20 # Commanded vehicle depth: 804.557738 # Seafloor depth: -814.597486 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.274521 meters # Minimum depth: 814.823887 meters looking forward 100.000000 meters along route # Maximum depth: 815.802444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.823887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801304; longitude = -118.651052; captureRadius = 10; duration = 253; initialDepth = 805.848673; finalDepth = 804.823887; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10.039748 # Actual altitude: 20 # Commanded vehicle depth: 804.823887 # Seafloor depth: -814.823887 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.274144 meters # Minimum depth: 815.848673 meters looking forward 100.000000 meters along route # Maximum depth: 817.582474 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 805.848673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801800; longitude = -118.651970; captureRadius = 10; duration = 253; initialDepth = 807.631267; finalDepth = 805.848673; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 805.848673 # Seafloor depth: -815.848673 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.273766 meters # Minimum depth: 817.631267 meters looking forward 100.000000 meters along route # Maximum depth: 818.964799 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 807.631267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802296; longitude = -118.652888; captureRadius = 10; duration = 253; initialDepth = 809.044113; finalDepth = 807.631267; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 807.631267 # Seafloor depth: -817.631267 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 102.202717 meters # Minimum depth: 819.044113 meters looking forward 100.000000 meters along route # Maximum depth: 819.470635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.044113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802793; longitude = -118.653806; captureRadius = 10; duration = 255; initialDepth = 809.361672; finalDepth = 809.044113; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 809.044113 # Seafloor depth: -819.044113 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.084282 meters # Minimum depth: 819.361672 meters looking forward 100.000000 meters along route # Maximum depth: 820.912663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.361672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803294; longitude = -118.654733; captureRadius = 10; duration = 250; initialDepth = 809.549585; finalDepth = 809.361672; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 10.071112 # Actual altitude: 20 # Commanded vehicle depth: 809.361672 # Seafloor depth: -819.432784 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; 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 5 # Segment length 40.152217 meters # Minimum depth: 819.549585 meters looking forward 100.000000 meters along route # Maximum depth: 820.912663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.549585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803784; longitude = -118.655640; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 809.845265; finalDepth = 809.549585; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 11.300055 # Actual altitude: 20 # Commanded vehicle depth: 809.549585 # Seafloor depth: -820.849640 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 96.385364 meters # Minimum depth: 819.845265 meters looking forward 100.000000 meters along route # Maximum depth: 820.718948 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.845265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804075; longitude = -118.655382; captureRadius = 10; duration = 240; # abortOnTimeout = True; initialDepth = 809.241095; finalDepth = 809.845265; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 11.300055 # Actual altitude: 20 # Commanded vehicle depth: 809.845265 # Seafloor depth: -820.718948 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.274353 meters # Minimum depth: 819.241095 meters looking forward 100.000000 meters along route # Maximum depth: 819.836994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.241095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803603; longitude = -118.654508; captureRadius = 10; duration = 253; initialDepth = 808.005121; finalDepth = 809.241095; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10.8736829999999 # Actual altitude: 20 # Commanded vehicle depth: 809.241095 # Seafloor depth: -819.836994 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.274731 meters # Minimum depth: 818.005121 meters looking forward 100.000000 meters along route # Maximum depth: 819.207884 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 808.005121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803106; longitude = -118.653590; captureRadius = 10; duration = 253; initialDepth = 806.811101; finalDepth = 808.005121; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 11.202763 # Actual altitude: 20 # Commanded vehicle depth: 808.005121 # Seafloor depth: -819.207884 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.275108 meters # Minimum depth: 816.811101 meters looking forward 100.000000 meters along route # Maximum depth: 817.944454 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 806.811101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802610; longitude = -118.652672; captureRadius = 10; duration = 253; initialDepth = 805.384822; finalDepth = 806.811101; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 11.202763 # Actual altitude: 20 # Commanded vehicle depth: 806.811101 # Seafloor depth: -817.944454 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.275485 meters # Minimum depth: 815.384822 meters looking forward 100.000000 meters along route # Maximum depth: 816.749966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 805.384822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802114; longitude = -118.651754; captureRadius = 10; duration = 253; initialDepth = 804.969567; finalDepth = 805.384822; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 11.365144 # Actual altitude: 20 # Commanded vehicle depth: 805.384822 # Seafloor depth: -816.749966 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.275863 meters # Minimum depth: 814.969567 meters looking forward 100.000000 meters along route # Maximum depth: 815.381367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.969567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801617; longitude = -118.650836; captureRadius = 10; duration = 253; initialDepth = 804.813750; finalDepth = 804.969567; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 11.365144 # Actual altitude: 20 # Commanded vehicle depth: 804.969567 # Seafloor depth: -815.381367 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.276240 meters # Minimum depth: 814.813750 meters looking forward 100.000000 meters along route # Maximum depth: 815.007845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.813750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801121; longitude = -118.649917; captureRadius = 10; duration = 253; initialDepth = 803.768468; finalDepth = 804.813750; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10.4118 # Actual altitude: 20 # Commanded vehicle depth: 804.81375 # Seafloor depth: -815.007430 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.276617 meters # Minimum depth: 813.768468 meters looking forward 100.000000 meters along route # Maximum depth: 814.996171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 803.768468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800625; longitude = -118.648999; captureRadius = 10; duration = 253; initialDepth = 796.306185; finalDepth = 803.768468; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 11.183564 # Actual altitude: 20 # Commanded vehicle depth: 803.768468 # Seafloor depth: -814.952032 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.276995 meters # Minimum depth: 806.306185 meters looking forward 100.000000 meters along route # Maximum depth: 813.716659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.306185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800128; longitude = -118.648081; captureRadius = 10; duration = 253; initialDepth = 791.461331; finalDepth = 796.306185; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 17.410474 # Actual altitude: 20 # Commanded vehicle depth: 796.306185 # Seafloor depth: -813.716659 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.409746 meters # Minimum depth: 801.461331 meters looking forward 100.000000 meters along route # Maximum depth: 807.706207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 791.461331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799632; longitude = -118.647163; captureRadius = 10; duration = 253; initialDepth = 797.724457; finalDepth = 791.461331; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 17.410474 # Actual altitude: 20 # Commanded vehicle depth: 791.461331 # Seafloor depth: -805.288773 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.145376 meters # Minimum depth: 807.724457 meters looking forward 100.000000 meters along route # Maximum depth: 820.432899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.724457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799135; longitude = -118.646244; captureRadius = 10; duration = 252; initialDepth = 810.526258; finalDepth = 797.724457; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 13.827442 # Actual altitude: 20 # Commanded vehicle depth: 797.724457 # Seafloor depth: -807.724457 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.278128 meters # Minimum depth: 820.526258 meters looking forward 100.000000 meters along route # Maximum depth: 822.986616 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 810.526258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798639; longitude = -118.645327; captureRadius = 10; duration = 253; initialDepth = 813.077761; finalDepth = 810.526258; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 810.526258 # Seafloor depth: -820.526258 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.278505 meters # Minimum depth: 823.077761 meters looking forward 100.000000 meters along route # Maximum depth: 825.148151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 813.077761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798143; longitude = -118.644409; captureRadius = 10; duration = 253; initialDepth = 815.376360; finalDepth = 813.077761; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 813.077761 # Seafloor depth: -823.077761 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.278882 meters # Minimum depth: 825.376360 meters looking forward 100.000000 meters along route # Maximum depth: 828.490079 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 815.376360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797647; longitude = -118.643491; captureRadius = 10; duration = 253; initialDepth = 818.723988; finalDepth = 815.376360; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 815.37636 # Seafloor depth: -825.376360 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.953784 meters # Minimum depth: 828.723988 meters looking forward 100.000000 meters along route # Maximum depth: 833.287534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 818.723988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797150; longitude = -118.642572; captureRadius = 10; duration = 254; initialDepth = 823.330606; finalDepth = 818.723988; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 818.723988 # Seafloor depth: -828.723988 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.722979 meters # Minimum depth: 833.330606 meters looking forward 100.000000 meters along route # Maximum depth: 840.349403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 823.330606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796651; longitude = -118.641648; captureRadius = 10; duration = 254; initialDepth = 827.013072; finalDepth = 823.330606; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 823.330606 # Seafloor depth: -833.330606 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; 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 3 # Segment length 49.985677 meters # Minimum depth: 837.013072 meters looking forward 100.000000 meters along route # Maximum depth: 840.582916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 827.013072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796152; longitude = -118.640726; captureRadius = 10; duration = 124; # abortOnTimeout = True; initialDepth = 822.299540; finalDepth = 827.013072; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 13.569844 # Actual altitude: 20 # Commanded vehicle depth: 827.013072 # Seafloor depth: -840.582916 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 111.597584 meters # Minimum depth: 832.299540 meters looking forward 100.000000 meters along route # Maximum depth: 839.251740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 822.299540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795774; longitude = -118.641020; captureRadius = 10; duration = 278; # abortOnTimeout = True; initialDepth = 818.839219; finalDepth = 822.299540; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 16.9522000000001 # Actual altitude: 20 # Commanded vehicle depth: 822.29954 # Seafloor depth: -839.251740 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.213795 meters # Minimum depth: 828.839219 meters looking forward 100.000000 meters along route # Maximum depth: 831.995387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 818.839219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796320; longitude = -118.642032; captureRadius = 10; duration = 253; initialDepth = 816.324516; finalDepth = 818.839219; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 16.9522000000001 # Actual altitude: 20 # Commanded vehicle depth: 818.839219 # Seafloor depth: -831.995387 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.213418 meters # Minimum depth: 826.324516 meters looking forward 100.000000 meters along route # Maximum depth: 828.824177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 816.324516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796815; longitude = -118.642950; captureRadius = 10; duration = 253; initialDepth = 814.557990; finalDepth = 816.324516; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 13.1561680000001 # Actual altitude: 20 # Commanded vehicle depth: 816.324516 # Seafloor depth: -828.824177 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.213041 meters # Minimum depth: 824.557990 meters looking forward 100.000000 meters along route # Maximum depth: 826.252865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 814.557990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797311; longitude = -118.643869; captureRadius = 10; duration = 253; initialDepth = 811.922831; finalDepth = 814.557990; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 12.4996609999999 # Actual altitude: 20 # Commanded vehicle depth: 814.55799 # Seafloor depth: -826.252865 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.212664 meters # Minimum depth: 821.922831 meters looking forward 100.000000 meters along route # Maximum depth: 824.467724 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 811.922831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797806; longitude = -118.644787; captureRadius = 10; duration = 253; initialDepth = 798.802168; finalDepth = 811.922831; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 12.544893 # Actual altitude: 20 # Commanded vehicle depth: 811.922831 # Seafloor depth: -824.467724 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.212287 meters # Minimum depth: 808.802168 meters looking forward 100.000000 meters along route # Maximum depth: 821.621538 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 798.802168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798301; longitude = -118.645705; captureRadius = 10; duration = 253; initialDepth = 791.811411; finalDepth = 798.802168; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.8193699999999 # Actual altitude: 22.8193699999999 # Commanded vehicle depth: 798.802168 # Seafloor depth: -821.621538 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 91.28; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.13; MB_Bottom_Detect_Filter_Max_Range = 91.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 91.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.304422 meters # Minimum depth: 801.811411 meters looking forward 100.000000 meters along route # Maximum depth: 809.595406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 791.811411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798796; longitude = -118.646623; captureRadius = 10; duration = 255; initialDepth = 799.828699; finalDepth = 791.811411; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.8193699999999 # Actual altitude: 22.8193699999999 # Commanded vehicle depth: 791.811411 # Seafloor depth: -808.160841 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 91.28; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.13; MB_Bottom_Detect_Filter_Max_Range = 91.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 91.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.119022 meters # Minimum depth: 809.828699 meters looking forward 100.000000 meters along route # Maximum depth: 817.918112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.828699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799297; longitude = -118.647551; captureRadius = 10; duration = 250; initialDepth = 805.608787; finalDepth = 799.828699; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 16.34943 # Actual altitude: 20 # Commanded vehicle depth: 799.828699 # Seafloor depth: -809.828699 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.211157 meters # Minimum depth: 815.608787 meters looking forward 100.000000 meters along route # Maximum depth: 816.859788 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 805.608787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799787; longitude = -118.648459; captureRadius = 10; duration = 253; initialDepth = 804.641530; finalDepth = 805.608787; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 11.190093 # Actual altitude: 20 # Commanded vehicle depth: 805.608787 # Seafloor depth: -816.798880 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.210780 meters # Minimum depth: 814.641530 meters looking forward 100.000000 meters along route # Maximum depth: 815.586709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.641530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800282; longitude = -118.649377; captureRadius = 10; duration = 253; initialDepth = 804.604615; finalDepth = 804.641530; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 11.190093 # Actual altitude: 20 # Commanded vehicle depth: 804.64153 # Seafloor depth: -815.586709 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.210403 meters # Minimum depth: 814.604615 meters looking forward 100.000000 meters along route # Maximum depth: 814.817617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.604615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800777; longitude = -118.650296; captureRadius = 10; duration = 253; initialDepth = 804.806850; finalDepth = 804.604615; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10.9451790000001 # Actual altitude: 20 # Commanded vehicle depth: 804.604615 # Seafloor depth: -814.643046 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.210026 meters # Minimum depth: 814.806850 meters looking forward 100.000000 meters along route # Maximum depth: 815.948607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.806850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801273; longitude = -118.651214; captureRadius = 10; duration = 253; initialDepth = 806.041474; finalDepth = 804.806850; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10.0384310000001 # Actual altitude: 20 # Commanded vehicle depth: 804.80685 # Seafloor depth: -814.806850 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.084845 meters # Minimum depth: 816.041474 meters looking forward 100.000000 meters along route # Maximum depth: 817.784041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 806.041474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801768; longitude = -118.652132; captureRadius = 10; duration = 255; initialDepth = 807.792724; finalDepth = 806.041474; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 806.041474 # Seafloor depth: -816.041474 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.334078 meters # Minimum depth: 817.792724 meters looking forward 100.000000 meters along route # Maximum depth: 819.399289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 807.792724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802267; longitude = -118.653058; captureRadius = 10; duration = 250; initialDepth = 809.389566; finalDepth = 807.792724; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 807.792724 # Seafloor depth: -817.792724 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.208896 meters # Minimum depth: 819.389566 meters looking forward 100.000000 meters along route # Maximum depth: 819.620274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.389566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802758; longitude = -118.653968; captureRadius = 10; duration = 253; initialDepth = 809.432248; finalDepth = 809.389566; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10.011241 # Actual altitude: 20 # Commanded vehicle depth: 809.389566 # Seafloor depth: -819.400807 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.836393 meters # Minimum depth: 819.432248 meters looking forward 100.000000 meters along route # Maximum depth: 821.626805 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.432248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803254; longitude = -118.654886; captureRadius = 10; duration = 252; initialDepth = 811.767456; finalDepth = 809.432248; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 10.03907 # Actual altitude: 20 # Commanded vehicle depth: 809.432248 # Seafloor depth: -819.471318 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 99.075649 meters # Minimum depth: 821.767456 meters looking forward 100.000000 meters along route # Maximum depth: 824.505141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 811.767456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803747; longitude = -118.655801; captureRadius = 10; duration = 247; # abortOnTimeout = True; initialDepth = 814.531353; finalDepth = 811.767456; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10.03907 # Actual altitude: 20 # Commanded vehicle depth: 811.767456 # Seafloor depth: -821.767456 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 103.636169 meters # Minimum depth: 824.531353 meters looking forward 100.000000 meters along route # Maximum depth: 828.237429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 814.531353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804482; longitude = -118.656410; captureRadius = 10; duration = 259; initialDepth = 818.295845; finalDepth = 814.531353; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 814.531353 # Seafloor depth: -824.531353 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.294825 meters # Minimum depth: 828.295845 meters looking forward 100.000000 meters along route # Maximum depth: 831.019488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 818.295845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805250; longitude = -118.657047; captureRadius = 10; duration = 250; initialDepth = 821.064313; finalDepth = 818.295845; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 818.295845 # Seafloor depth: -828.295845 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.965107 meters # Minimum depth: 831.064313 meters looking forward 100.000000 meters along route # Maximum depth: 832.232929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 821.064313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805994; longitude = -118.657663; captureRadius = 10; duration = 254; initialDepth = 822.233435; finalDepth = 821.064313; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 821.064313 # Seafloor depth: -831.064313 # behavior reson { duration = 6; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.914045 meters # Minimum depth: 832.233435 meters looking forward 100.000000 meters along route # Maximum depth: 833.500255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 10.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 822.233435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806750; longitude = -118.658289; captureRadius = 10; duration = 262; initialDepth = 822.251190; finalDepth = 822.233435; maxCrossTrackError = 30; speed = 1.200000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 10 # Actual altitude: 20 # Commanded vehicle depth: 822.233435 # Seafloor depth: -832.233435 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; 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; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 11.29776 # Sonar parameter altitude: 20 # Commanded vehicle depth: 822.25119 # Seafloor depth: -833.548950 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 400.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; HiSS_Mode = 1; HiSS_Power = 100.0; HiSS_Range = 200; MB_Power = 220; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.00; 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 104.914045 meters # Minimum depth: 832.251190 meters looking forward 100.000000 meters along route # Maximum depth: 833.548950 meters looking forward 100.000000 meters along route # Vehicle depth: 822.251190 meters behavior waypoint { latitude = 33.807528; longitude = -118.658934; captureRadius = 10; duration = 513; depth = 822.251190; speed = 1.5; } # # 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 822.251190 meters set by local depth and desired altitude behavior descend { duration = 2394; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.5; maxDepth = 813.548950; minAltitude = 10.000000; } # # 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 104.914045 meters # Minimum depth: 832.251190 meters looking forward 100.000000 meters along route # Maximum depth: 833.548950 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 33.807528; longitude = -118.658934; captureRadius = 10; duration = 1250; depth = 50.000000; speed = 1.5; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 180.0; pitch = -30.000000; speed = 1.5; maxDepth = 3.000000; minAltitude = 20.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 180.0; speed = 1.5; 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 = 40.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 4.00; MB_Bottom_Detect_Filter_Max_Range = 40.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 40.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################