# 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_1v3.rte # Mission File: 2010_SantaMonicaRefraction_1v3.cfg # Distance: 51088.871612 (m) # Estimated Time: 44411 (s) 12.336 (hr) # Abort Time: 57734 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1008 (s) # Way Points: 64 # Route Points: 498 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 55 # 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: 20 (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: 803.54895 m # Spiral descent altitude: 20 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 -824.855362 17038.686554 3 # 21 -118.645075 33.798955 -820.377548 17170.010227 3 # 22 -118.645939 33.800521 -819.936722 17361.227650 3 # 23 -118.647091 33.798937 -802.837326 17566.749190 3 # 24 -118.648765 33.799423 -821.070984 17730.851305 3 # 25 -118.647901 33.800503 -814.789383 17874.888221 3 # 26 -118.649035 33.801529 -817.289490 18029.718174 3 # 27 -118.649827 33.800413 -815.253540 18173.581860 3 # 28 -118.651448 33.800845 -816.720535 18331.131473 3 # 29 -118.650584 33.801925 -816.556549 18475.167811 3 # 30 -118.645507 33.797497 -828.093669 19155.022397 1 # 31 -118.640610 33.795912 -841.975179 19641.281505 4 # 32 -118.640430 33.796416 -842.172201 19699.618677 3 # 33 -118.655300 33.804500 -822.253011 21342.582936 4 # 34 -118.655876 33.803654 -822.887777 21450.522808 3 # 35 -118.640988 33.795642 -839.900146 23090.554960 4 # 36 -118.640268 33.796470 -843.219564 23204.050338 3 # 37 -118.655336 33.804680 -823.291992 24870.005388 4 # 38 -118.656056 33.803636 -825.375814 25003.630386 3 # 39 -118.640934 33.795480 -840.830566 26670.531985 4 # 40 -118.640070 33.796506 -844.178060 26809.650763 3 # 41 -118.655354 33.804878 -824.535319 28502.180657 4 # 42 -118.656272 33.803636 -829.031169 28664.062469 3 # 43 -118.640862 33.795282 -842.272949 30365.289759 3 # 44 -118.639854 33.796561 -845.116699 30535.023674 3 # 45 -118.655354 33.805094 -826.203451 32254.137815 3 # 46 -118.656470 33.803600 -832.690918 32449.438176 3 # 47 -118.640808 33.795066 -843.925944 34181.117467 3 # 48 -118.639620 33.796633 -845.996582 34386.731971 3 # 49 -118.655390 33.805328 -827.511230 36136.609806 3 # 50 -118.656687 33.803492 -837.533610 36372.993955 3 # 51 -118.640700 33.794796 -846.291260 38139.623884 3 # 52 -118.639296 33.796687 -847.469482 38386.314084 3 # 53 -118.655408 33.805580 -829.164062 40174.720352 3 # 54 -118.656975 33.803366 -840.097656 40459.921232 3 # 55 -118.640610 33.794508 -848.689941 42265.697157 3 # 56 -118.638918 33.796741 -849.264486 42558.695578 3 # 57 -118.655462 33.805850 -830.477539 44393.684729 3 # 58 -118.657281 33.803221 -841.815999 44730.309222 3 # 59 -118.640502 33.794184 -851.545898 46579.124200 3 # 60 -118.638558 33.796831 -850.653483 46923.440555 3 # 61 -118.655516 33.806174 -832.568604 48804.720809 3 # 62 -118.657605 33.803059 -843.104004 49200.567415 3 # 63 -118.640430 33.793878 -853.307129 51088.871612 4 # # A total of 498 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.200000 #define MISSION_DISTANCE 51088.871612 #define MISSION_TIME 44411 #define MISSION_TIMEOUT 43200 #define DEPTH_MAX 853.764942 #define DEPTH_ABORT 863.764942 #define ALTITUDE_DESIRED 20.000000 #define ALTITUDE_MIN 20.000000 #define ALTITUDE_ABORT 10.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define SPIRAL_DESCENT_DEPTH 803.548950 #define SPIRAL_DESCENT_ALTITUDE 20.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 10 #define ASCENDRUDDER 3.000000 #define ASCENDPITCH 45.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 3.000000 #define DESCENDPITCH -30.000000 #define MAXCROSSTRACKERROR 30 #define RESON_DURATION 6 # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = MISSION_TIMEOUT; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = DEPTH_MAX; abortDepth = DEPTH_ABORT; minAltitude = ALTITUDE_MIN; abortAltitude = ALTITUDE_ABORT; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1008; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = 1.5; endDepth = ASCENDENDDEPTH; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = RESON_DURATION; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 63 # Segment length 170.323008 meters # Minimum depth: 840.488636 meters looking forward 100.000000 meters along route # Maximum depth: 853.307129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 820.488636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793878; longitude = -118.640430; captureRadius = 10; duration = 425; # abortOnTimeout = True; initialDepth = 816.635817; finalDepth = 820.488636; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 32.818493 # Actual altitude: 32.818493 # Commanded vehicle depth: 820.488636 # Seafloor depth: -853.307129 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 131.27; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.13; MB_Bottom_Detect_Filter_Max_Range = 131.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 131.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 100.856614 meters # Minimum depth: 836.635817 meters looking forward 100.000000 meters along route # Maximum depth: 840.483749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 816.635817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794706; longitude = -118.641979; captureRadius = 10; duration = 252; initialDepth = 814.499557; finalDepth = 816.635817; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 32.818493 # Actual altitude: 32.818493 # Commanded vehicle depth: 816.635817 # Seafloor depth: -840.483749 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 131.27; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.13; MB_Bottom_Detect_Filter_Max_Range = 131.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 131.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 100.949388 meters # Minimum depth: 834.499557 meters looking forward 100.000000 meters along route # Maximum depth: 836.602761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 814.499557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795197; longitude = -118.642896; captureRadius = 10; duration = 252; initialDepth = 813.917693; finalDepth = 814.499557; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 23.847932 # Actual altitude: 23.847932 # Commanded vehicle depth: 814.499557 # Seafloor depth: -836.602761 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 95.39; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.54; MB_Bottom_Detect_Filter_Max_Range = 95.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 95.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 100.949014 meters # Minimum depth: 833.917693 meters looking forward 100.000000 meters along route # Maximum depth: 834.489786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 813.917693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795687; longitude = -118.643815; captureRadius = 10; duration = 252; initialDepth = 813.389520; finalDepth = 813.917693; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.103204 # Actual altitude: 22.103204 # Commanded vehicle depth: 813.917693 # Seafloor depth: -834.489786 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 88.41; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.84; MB_Bottom_Detect_Filter_Max_Range = 88.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 88.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 100.948639 meters # Minimum depth: 833.389520 meters looking forward 100.000000 meters along route # Maximum depth: 833.848352 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 813.389520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796178; longitude = -118.644733; captureRadius = 10; duration = 252; initialDepth = 812.368511; finalDepth = 813.389520; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.572093 # Actual altitude: 20.572093 # Commanded vehicle depth: 813.38952 # Seafloor depth: -833.848352 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 82.29; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.23; MB_Bottom_Detect_Filter_Max_Range = 82.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 82.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 100.948265 meters # Minimum depth: 832.368511 meters looking forward 100.000000 meters along route # Maximum depth: 833.400973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 812.368511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796669; longitude = -118.645651; captureRadius = 10; duration = 252; initialDepth = 811.841505; finalDepth = 812.368511; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.024551 # Actual altitude: 21.024551 # Commanded vehicle depth: 812.368511 # Seafloor depth: -833.393062 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.10; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.41; MB_Bottom_Detect_Filter_Max_Range = 84.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 100.947891 meters # Minimum depth: 831.841505 meters looking forward 100.000000 meters along route # Maximum depth: 832.517294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 811.841505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797160; longitude = -118.646569; captureRadius = 10; duration = 252; initialDepth = 808.738866; finalDepth = 811.841505; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.024551 # Actual altitude: 21.024551 # Commanded vehicle depth: 811.841505 # Seafloor depth: -832.260968 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.10; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.41; MB_Bottom_Detect_Filter_Max_Range = 84.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 100.947516 meters # Minimum depth: 828.738866 meters looking forward 100.000000 meters along route # Maximum depth: 831.874891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 808.738866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797651; longitude = -118.647487; captureRadius = 10; duration = 252; initialDepth = 808.649448; finalDepth = 808.738866; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 23.136025 # Actual altitude: 23.136025 # Commanded vehicle depth: 808.738866 # Seafloor depth: -831.874891 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 92.54; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.25; MB_Bottom_Detect_Filter_Max_Range = 92.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 92.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 100.947142 meters # Minimum depth: 828.649448 meters looking forward 100.000000 meters along route # Maximum depth: 830.555768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 808.649448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798142; longitude = -118.648405; captureRadius = 10; duration = 252; initialDepth = 809.792807; finalDepth = 808.649448; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 23.136025 # Actual altitude: 23.136025 # Commanded vehicle depth: 808.649448 # Seafloor depth: -828.970680 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 92.54; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.25; MB_Bottom_Detect_Filter_Max_Range = 92.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 92.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 100.946768 meters # Minimum depth: 829.792807 meters looking forward 100.000000 meters along route # Maximum depth: 831.053431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.792807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798632; longitude = -118.649323; captureRadius = 10; duration = 252; initialDepth = 807.529231; finalDepth = 809.792807; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.321232 # Actual altitude: 20.321232 # Commanded vehicle depth: 809.792807 # Seafloor depth: -830.103425 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 81.28; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.13; MB_Bottom_Detect_Filter_Max_Range = 81.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 81.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 100.946393 meters # Minimum depth: 827.529231 meters looking forward 100.000000 meters along route # Maximum depth: 829.546244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 807.529231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799123; longitude = -118.650242; captureRadius = 10; duration = 252; initialDepth = 807.140106; finalDepth = 807.529231; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.017013 # Actual altitude: 22.017013 # Commanded vehicle depth: 807.529231 # Seafloor depth: -829.546244 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 88.07; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.81; MB_Bottom_Detect_Filter_Max_Range = 88.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 88.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 101.388458 meters # Minimum depth: 827.140106 meters looking forward 100.000000 meters along route # Maximum depth: 827.631464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 807.140106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799614; longitude = -118.651160; captureRadius = 10; duration = 253; initialDepth = 806.537326; finalDepth = 807.140106; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.017013 # Actual altitude: 22.017013 # Commanded vehicle depth: 807.140106 # Seafloor depth: -827.631464 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 88.07; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.81; MB_Bottom_Detect_Filter_Max_Range = 88.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 88.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 100.503206 meters # Minimum depth: 826.537326 meters looking forward 100.000000 meters along route # Maximum depth: 827.137103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 806.537326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800107; longitude = -118.652082; captureRadius = 10; duration = 251; initialDepth = 806.864637; finalDepth = 806.537326; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.599777 # Actual altitude: 20.599777 # Commanded vehicle depth: 806.537326 # Seafloor depth: -827.137103 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 82.40; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.24; MB_Bottom_Detect_Filter_Max_Range = 82.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 82.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 100.945270 meters # Minimum depth: 826.864637 meters looking forward 100.000000 meters along route # Maximum depth: 828.521703 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 806.864637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800596; longitude = -118.652996; captureRadius = 10; duration = 252; initialDepth = 808.565790; finalDepth = 806.864637; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.599777 # Actual altitude: 20.599777 # Commanded vehicle depth: 806.864637 # Seafloor depth: -826.864637 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 82.40; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.24; MB_Bottom_Detect_Filter_Max_Range = 82.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 82.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 100.944896 meters # Minimum depth: 828.565790 meters looking forward 100.000000 meters along route # Maximum depth: 833.985868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 808.565790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801087; longitude = -118.653914; captureRadius = 10; duration = 252; initialDepth = 814.104862; finalDepth = 808.565790; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 808.56579 # Seafloor depth: -828.565790 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 63 # Segment length 100.944522 meters # Minimum depth: 834.104862 meters looking forward 100.000000 meters along route # Maximum depth: 840.272145 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 814.104862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801577; longitude = -118.654832; captureRadius = 10; duration = 252; initialDepth = 820.191371; finalDepth = 814.104862; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 814.104862 # Seafloor depth: -834.104862 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 63 # Segment length 100.944148 meters # Minimum depth: 840.191371 meters looking forward 100.000000 meters along route # Maximum depth: 842.662452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 820.191371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802068; longitude = -118.655750; captureRadius = 10; duration = 252; initialDepth = 822.799308; finalDepth = 820.191371; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.447274 # Actual altitude: 20.447274 # Commanded vehicle depth: 820.191371 # Seafloor depth: -840.638645 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 81.79; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.18; MB_Bottom_Detect_Filter_Max_Range = 81.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 81.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 102.923059 meters # Minimum depth: 842.799308 meters looking forward 100.000000 meters along route # Maximum depth: 843.426060 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 822.799308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802559; longitude = -118.656669; captureRadius = 10; duration = 257; initialDepth = 818.619808; finalDepth = 822.799308; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 20.447274 # Actual altitude: 20.447274 # Commanded vehicle depth: 822.799308 # Seafloor depth: -842.799308 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 81.79; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.18; MB_Bottom_Detect_Filter_Max_Range = 81.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 81.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 62 # Segment length 85.312070 meters # Minimum depth: 838.619808 meters looking forward 100.000000 meters along route # Maximum depth: 843.226431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 818.619808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803059; longitude = -118.657605; captureRadius = 10; duration = 213; # abortOnTimeout = True; initialDepth = 805.832399; finalDepth = 818.619808; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 24.484196 # Actual altitude: 24.484196 # Commanded vehicle depth: 818.619808 # Seafloor depth: -843.104004 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 97.94; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.79; MB_Bottom_Detect_Filter_Max_Range = 97.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 97.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 102.374266 meters # Minimum depth: 825.832399 meters looking forward 100.000000 meters along route # Maximum depth: 838.586955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 805.832399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803731; longitude = -118.657155; captureRadius = 10; duration = 255; initialDepth = 804.588238; finalDepth = 805.832399; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 32.754556 # Actual altitude: 32.754556 # Commanded vehicle depth: 805.832399 # Seafloor depth: -838.586955 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 131.02; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.10; MB_Bottom_Detect_Filter_Max_Range = 131.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 131.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 102.906607 meters # Minimum depth: 824.588238 meters looking forward 100.000000 meters along route # Maximum depth: 826.243719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.588238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804536; longitude = -118.656614; captureRadius = 10; duration = 257; initialDepth = 806.272953; finalDepth = 804.588238; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 32.754556 # Actual altitude: 32.754556 # Commanded vehicle depth: 804.588238 # Seafloor depth: -825.828083 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 131.02; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.10; MB_Bottom_Detect_Filter_Max_Range = 131.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 131.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 105.253663 meters # Minimum depth: 826.272953 meters looking forward 100.000000 meters along route # Maximum depth: 832.429236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 806.272953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805346; longitude = -118.656072; captureRadius = 10; duration = 263; initialDepth = 810.995454; finalDepth = 806.272953; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 21.2398449999999 # Actual altitude: 21.2398449999999 # Commanded vehicle depth: 806.272953 # Seafloor depth: -826.272953 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.96; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.50; MB_Bottom_Detect_Filter_Max_Range = 84.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.96; 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 61 # Segment length 147.781622 meters # Minimum depth: 830.995454 meters looking forward 100.000000 meters along route # Maximum depth: 832.568604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 810.995454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806174; longitude = -118.655516; captureRadius = 10; duration = 369; # abortOnTimeout = True; initialDepth = 809.406645; finalDepth = 810.995454; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.5731500000001 # Actual altitude: 21.5731500000001 # Commanded vehicle depth: 810.995454 # Seafloor depth: -832.568604 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 86.29; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.63; MB_Bottom_Detect_Filter_Max_Range = 86.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 86.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 101.849965 meters # Minimum depth: 829.406645 meters looking forward 100.000000 meters along route # Maximum depth: 830.940550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.406645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805440; longitude = -118.654184; captureRadius = 10; duration = 254; initialDepth = 807.984624; finalDepth = 809.406645; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.5731500000001 # Actual altitude: 21.5731500000001 # Commanded vehicle depth: 809.406645 # Seafloor depth: -830.940550 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 86.29; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.63; MB_Bottom_Detect_Filter_Max_Range = 86.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 86.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 101.965785 meters # Minimum depth: 827.984624 meters looking forward 100.000000 meters along route # Maximum depth: 829.334603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 807.984624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804934; longitude = -118.653266; captureRadius = 10; duration = 254; initialDepth = 806.649186; finalDepth = 807.984624; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.533905 # Actual altitude: 21.533905 # Commanded vehicle depth: 807.984624 # Seafloor depth: -829.334603 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 86.14; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.61; MB_Bottom_Detect_Filter_Max_Range = 86.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 86.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 101.735293 meters # Minimum depth: 826.649186 meters looking forward 100.000000 meters along route # Maximum depth: 827.982761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 806.649186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804428; longitude = -118.652347; captureRadius = 10; duration = 254; initialDepth = 805.142830; finalDepth = 806.649186; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.349979 # Actual altitude: 21.349979 # Commanded vehicle depth: 806.649186 # Seafloor depth: -827.982761 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.40; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.54; MB_Bottom_Detect_Filter_Max_Range = 85.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 101.851113 meters # Minimum depth: 825.142830 meters looking forward 100.000000 meters along route # Maximum depth: 826.584238 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 805.142830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803922; longitude = -118.651430; captureRadius = 10; duration = 254; initialDepth = 803.379472; finalDepth = 805.142830; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.441408 # Actual altitude: 21.441408 # Commanded vehicle depth: 805.14283 # Seafloor depth: -826.584238 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.77; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.58; MB_Bottom_Detect_Filter_Max_Range = 85.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 101.851496 meters # Minimum depth: 823.379472 meters looking forward 100.000000 meters along route # Maximum depth: 825.032587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 803.379472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803417; longitude = -118.650512; captureRadius = 10; duration = 254; initialDepth = 802.349513; finalDepth = 803.379472; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.6531150000001 # Actual altitude: 21.6531150000001 # Commanded vehicle depth: 803.379472 # Seafloor depth: -825.032587 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 86.61; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.66; MB_Bottom_Detect_Filter_Max_Range = 86.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 86.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 101.851878 meters # Minimum depth: 822.349513 meters looking forward 100.000000 meters along route # Maximum depth: 823.396213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 802.349513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802911; longitude = -118.649593; captureRadius = 10; duration = 254; initialDepth = 801.581852; finalDepth = 802.349513; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.6531150000001 # Actual altitude: 21.6531150000001 # Commanded vehicle depth: 802.349513 # Seafloor depth: -823.396213 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 86.61; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.66; MB_Bottom_Detect_Filter_Max_Range = 86.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 86.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 101.852261 meters # Minimum depth: 821.581852 meters looking forward 100.000000 meters along route # Maximum depth: 822.308781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 801.581852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802405; longitude = -118.648675; captureRadius = 10; duration = 254; initialDepth = 801.075784; finalDepth = 801.581852; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.0467 # Actual altitude: 21.0467 # Commanded vehicle depth: 801.581852 # Seafloor depth: -822.308781 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.19; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.42; MB_Bottom_Detect_Filter_Max_Range = 84.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 101.852644 meters # Minimum depth: 821.075784 meters looking forward 100.000000 meters along route # Maximum depth: 821.634989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 801.075784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801899; longitude = -118.647757; captureRadius = 10; duration = 254; initialDepth = 801.007488; finalDepth = 801.075784; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.7269289999999 # Actual altitude: 20.7269289999999 # Commanded vehicle depth: 801.075784 # Seafloor depth: -821.612525 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 82.91; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.29; MB_Bottom_Detect_Filter_Max_Range = 82.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 82.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 101.853026 meters # Minimum depth: 821.007488 meters looking forward 100.000000 meters along route # Maximum depth: 821.380565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 801.007488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801393; longitude = -118.646839; captureRadius = 10; duration = 254; initialDepth = 801.420016; finalDepth = 801.007488; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.536741 # Actual altitude: 20.536741 # Commanded vehicle depth: 801.007488 # Seafloor depth: -821.064680 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 82.15; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.21; MB_Bottom_Detect_Filter_Max_Range = 82.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 82.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 102.730761 meters # Minimum depth: 821.420016 meters looking forward 100.000000 meters along route # Maximum depth: 822.722890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 801.420016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800887; longitude = -118.645921; captureRadius = 10; duration = 256; initialDepth = 802.732583; finalDepth = 801.420016; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.057192 # Actual altitude: 20.057192 # Commanded vehicle depth: 801.420016 # Seafloor depth: -821.420016 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.23; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.02; MB_Bottom_Detect_Filter_Max_Range = 80.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 100.976440 meters # Minimum depth: 822.732583 meters looking forward 100.000000 meters along route # Maximum depth: 824.495279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 802.732583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800377; longitude = -118.644995; captureRadius = 10; duration = 252; initialDepth = 804.574547; finalDepth = 802.732583; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 802.732583 # Seafloor depth: -822.732583 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 61 # Segment length 101.854174 meters # Minimum depth: 824.574547 meters looking forward 100.000000 meters along route # Maximum depth: 827.333723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.574547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799876; longitude = -118.644085; captureRadius = 10; duration = 254; initialDepth = 807.499957; finalDepth = 804.574547; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 804.574547 # Seafloor depth: -824.574547 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 61 # Segment length 101.854557 meters # Minimum depth: 827.499957 meters looking forward 100.000000 meters along route # Maximum depth: 831.512543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 807.499957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799370; longitude = -118.643166; captureRadius = 10; duration = 254; initialDepth = 811.522029; finalDepth = 807.499957; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 807.499957 # Seafloor depth: -827.499957 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 61 # Segment length 101.854940 meters # Minimum depth: 831.522029 meters looking forward 100.000000 meters along route # Maximum depth: 836.065803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 811.522029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798864; longitude = -118.642248; captureRadius = 10; duration = 254; initialDepth = 816.232210; finalDepth = 811.522029; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 811.522029 # Seafloor depth: -831.522029 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 61 # Segment length 101.855323 meters # Minimum depth: 836.232210 meters looking forward 100.000000 meters along route # Maximum depth: 841.163631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 816.232210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798358; longitude = -118.641330; captureRadius = 10; duration = 254; initialDepth = 821.455547; finalDepth = 816.232210; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 816.23221 # Seafloor depth: -836.232210 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 61 # Segment length 101.855706 meters # Minimum depth: 841.455547 meters looking forward 100.000000 meters along route # Maximum depth: 846.143702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 821.455547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797852; longitude = -118.640412; captureRadius = 10; duration = 254; initialDepth = 826.202099; finalDepth = 821.455547; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 821.455547 # Seafloor depth: -841.455547 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 61 # Segment length 103.853270 meters # Minimum depth: 846.202099 meters looking forward 100.000000 meters along route # Maximum depth: 850.565668 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 826.202099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797346; longitude = -118.639494; captureRadius = 10; duration = 259; initialDepth = 829.635016; finalDepth = 826.202099; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 826.202099 # Seafloor depth: -846.202099 # behavior reson { duration = RESON_DURATION; 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 = 55; 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 60 # Segment length 137.088557 meters # Minimum depth: 849.635016 meters looking forward 100.000000 meters along route # Maximum depth: 850.653483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 829.635016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796831; longitude = -118.638558; captureRadius = 10; duration = 342; # abortOnTimeout = True; initialDepth = 829.579384; finalDepth = 829.635016; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.0184670000001 # Actual altitude: 21.0184670000001 # Commanded vehicle depth: 829.635016 # Seafloor depth: -850.653483 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.07; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.41; MB_Bottom_Detect_Filter_Max_Range = 84.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 105.207822 meters # Minimum depth: 849.579384 meters looking forward 100.000000 meters along route # Maximum depth: 850.390023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 829.579384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795777; longitude = -118.639332; captureRadius = 10; duration = 263; initialDepth = 830.407864; finalDepth = 829.579384; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.0184670000001 # Actual altitude: 21.0184670000001 # Commanded vehicle depth: 829.579384 # Seafloor depth: -849.623877 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.07; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.41; MB_Bottom_Detect_Filter_Max_Range = 84.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 60 # Segment length 102.019976 meters # Minimum depth: 850.407864 meters looking forward 100.000000 meters along route # Maximum depth: 851.587869 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 830.407864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794968; longitude = -118.639926; captureRadius = 10; duration = 255; initialDepth = 821.012141; finalDepth = 830.407864; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 20.044493 # Actual altitude: 20.044493 # Commanded vehicle depth: 830.407864 # Seafloor depth: -850.407864 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.18; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.02; MB_Bottom_Detect_Filter_Max_Range = 80.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 59 # Segment length 126.961272 meters # Minimum depth: 841.012141 meters looking forward 100.000000 meters along route # Maximum depth: 851.545898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 821.012141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794184; longitude = -118.640502; captureRadius = 10; duration = 317; # abortOnTimeout = True; initialDepth = 816.152272; finalDepth = 821.012141; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 30.5337569999999 # Actual altitude: 30.5337569999999 # Commanded vehicle depth: 821.012141 # Seafloor depth: -851.545898 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 122.14; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.21; MB_Bottom_Detect_Filter_Max_Range = 122.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 122.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 101.385231 meters # Minimum depth: 836.152272 meters looking forward 100.000000 meters along route # Maximum depth: 840.593044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 816.152272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794805; longitude = -118.641654; captureRadius = 10; duration = 253; initialDepth = 813.734410; finalDepth = 816.152272; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 30.5337569999999 # Actual altitude: 30.5337569999999 # Commanded vehicle depth: 816.152272 # Seafloor depth: -840.593044 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 122.14; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.21; MB_Bottom_Detect_Filter_Max_Range = 122.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 122.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 100.958070 meters # Minimum depth: 833.734410 meters looking forward 100.000000 meters along route # Maximum depth: 836.144732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 813.734410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795300; longitude = -118.642574; captureRadius = 10; duration = 252; initialDepth = 812.963685; finalDepth = 813.734410; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 24.4407719999999 # Actual altitude: 24.4407719999999 # Commanded vehicle depth: 813.73441 # Seafloor depth: -836.144732 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 97.76; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.78; MB_Bottom_Detect_Filter_Max_Range = 97.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 97.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 101.171086 meters # Minimum depth: 832.963685 meters looking forward 100.000000 meters along route # Maximum depth: 833.719226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 812.963685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795794; longitude = -118.643491; captureRadius = 10; duration = 252; initialDepth = 812.144650; finalDepth = 812.963685; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.410322 # Actual altitude: 22.410322 # Commanded vehicle depth: 812.963685 # Seafloor depth: -833.719226 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 89.64; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.96; MB_Bottom_Detect_Filter_Max_Range = 89.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 89.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 101.170710 meters # Minimum depth: 832.144650 meters looking forward 100.000000 meters along route # Maximum depth: 832.915967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 812.144650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796288; longitude = -118.644409; captureRadius = 10; duration = 252; initialDepth = 811.145195; finalDepth = 812.144650; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.7713170000001 # Actual altitude: 20.7713170000001 # Commanded vehicle depth: 812.14465 # Seafloor depth: -832.915967 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 83.09; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.31; MB_Bottom_Detect_Filter_Max_Range = 83.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 83.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 101.170333 meters # Minimum depth: 831.145195 meters looking forward 100.000000 meters along route # Maximum depth: 832.110389 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 811.145195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796783; longitude = -118.645327; captureRadius = 10; duration = 252; initialDepth = 810.155902; finalDepth = 811.145195; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.9651940000001 # Actual altitude: 20.9651940000001 # Commanded vehicle depth: 811.145195 # Seafloor depth: -832.110389 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 83.86; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.39; MB_Bottom_Detect_Filter_Max_Range = 83.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 83.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 101.169956 meters # Minimum depth: 830.155902 meters looking forward 100.000000 meters along route # Maximum depth: 831.073188 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 810.155902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797277; longitude = -118.646245; captureRadius = 10; duration = 252; initialDepth = 807.105073; finalDepth = 810.155902; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.9651940000001 # Actual altitude: 20.9651940000001 # Commanded vehicle depth: 810.155902 # Seafloor depth: -831.073188 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 83.86; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.39; MB_Bottom_Detect_Filter_Max_Range = 83.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 83.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 102.046840 meters # Minimum depth: 827.105073 meters looking forward 100.000000 meters along route # Maximum depth: 830.072816 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 807.105073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797772; longitude = -118.647163; captureRadius = 10; duration = 255; initialDepth = 807.108008; finalDepth = 807.105073; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.967743 # Actual altitude: 22.967743 # Commanded vehicle depth: 807.105073 # Seafloor depth: -830.072816 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 91.87; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.19; MB_Bottom_Detect_Filter_Max_Range = 91.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 91.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 100.291944 meters # Minimum depth: 827.108008 meters looking forward 100.000000 meters along route # Maximum depth: 828.671944 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 807.108008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798271; longitude = -118.648089; captureRadius = 10; duration = 250; initialDepth = 807.076072; finalDepth = 807.108008; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.967743 # Actual altitude: 22.967743 # Commanded vehicle depth: 807.108008 # Seafloor depth: -827.341173 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 91.87; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.19; MB_Bottom_Detect_Filter_Max_Range = 91.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 91.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 101.168827 meters # Minimum depth: 827.076072 meters looking forward 100.000000 meters along route # Maximum depth: 828.260463 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 807.076072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798761; longitude = -118.648999; captureRadius = 10; duration = 252; initialDepth = 803.464468; finalDepth = 807.076072; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.184391 # Actual altitude: 21.184391 # Commanded vehicle depth: 807.076072 # Seafloor depth: -828.260463 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.74; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.47; MB_Bottom_Detect_Filter_Max_Range = 84.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 101.168451 meters # Minimum depth: 823.464468 meters looking forward 100.000000 meters along route # Maximum depth: 826.964616 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 803.464468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799256; longitude = -118.649917; captureRadius = 10; duration = 252; initialDepth = 803.439589; finalDepth = 803.464468; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 23.500148 # Actual altitude: 23.500148 # Commanded vehicle depth: 803.464468 # Seafloor depth: -826.964616 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 94.00; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.40; MB_Bottom_Detect_Filter_Max_Range = 94.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 94.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 101.168075 meters # Minimum depth: 823.439589 meters looking forward 100.000000 meters along route # Maximum depth: 823.714910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 803.439589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799750; longitude = -118.650836; captureRadius = 10; duration = 252; initialDepth = 802.512879; finalDepth = 803.439589; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 23.500148 # Actual altitude: 23.500148 # Commanded vehicle depth: 803.439589 # Seafloor depth: -823.474963 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 94.00; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.40; MB_Bottom_Detect_Filter_Max_Range = 94.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 94.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 101.167698 meters # Minimum depth: 822.512879 meters looking forward 100.000000 meters along route # Maximum depth: 823.336374 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 802.512879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800245; longitude = -118.651754; captureRadius = 10; duration = 252; initialDepth = 803.066322; finalDepth = 802.512879; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.823495 # Actual altitude: 20.823495 # Commanded vehicle depth: 802.512879 # Seafloor depth: -823.336374 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 83.29; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.33; MB_Bottom_Detect_Filter_Max_Range = 83.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 83.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 101.167322 meters # Minimum depth: 823.066322 meters looking forward 100.000000 meters along route # Maximum depth: 824.987180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 803.066322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800739; longitude = -118.652672; captureRadius = 10; duration = 252; initialDepth = 805.131860; finalDepth = 803.066322; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.823495 # Actual altitude: 20.823495 # Commanded vehicle depth: 803.066322 # Seafloor depth: -823.066322 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 83.29; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.33; MB_Bottom_Detect_Filter_Max_Range = 83.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 83.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 101.166945 meters # Minimum depth: 825.131860 meters looking forward 100.000000 meters along route # Maximum depth: 829.262141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 805.131860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801234; longitude = -118.653590; captureRadius = 10; duration = 252; initialDepth = 809.270616; finalDepth = 805.131860; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 805.13186 # Seafloor depth: -825.131860 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 59 # Segment length 101.166569 meters # Minimum depth: 829.270616 meters looking forward 100.000000 meters along route # Maximum depth: 834.639561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.270616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801728; longitude = -118.654508; captureRadius = 10; duration = 252; initialDepth = 814.733529; finalDepth = 809.270616; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 809.270616 # Seafloor depth: -829.270616 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 59 # Segment length 101.166193 meters # Minimum depth: 834.733529 meters looking forward 100.000000 meters along route # Maximum depth: 840.462756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 814.733529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802223; longitude = -118.655426; captureRadius = 10; duration = 252; initialDepth = 820.642141; finalDepth = 814.733529; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 814.733529 # Seafloor depth: -834.733529 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 59 # Segment length 103.149456 meters # Minimum depth: 840.642141 meters looking forward 100.000000 meters along route # Maximum depth: 842.038913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 820.642141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802717; longitude = -118.656344; captureRadius = 10; duration = 257; initialDepth = 808.435921; finalDepth = 820.642141; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 820.642141 # Seafloor depth: -840.642141 # behavior reson { duration = RESON_DURATION; 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 = 55; 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 58 # Segment length 126.810912 meters # Minimum depth: 828.435921 meters looking forward 100.000000 meters along route # Maximum depth: 841.815999 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 808.435921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803221; longitude = -118.657281; captureRadius = 10; duration = 317; # abortOnTimeout = True; initialDepth = 803.701604; finalDepth = 808.435921; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 33.380078 # Actual altitude: 33.380078 # Commanded vehicle depth: 808.435921 # Seafloor depth: -841.815999 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 133.52; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.35; MB_Bottom_Detect_Filter_Max_Range = 133.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 133.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 106.493478 meters # Minimum depth: 823.701604 meters looking forward 100.000000 meters along route # Maximum depth: 827.938906 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 803.701604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804212; longitude = -118.656596; captureRadius = 10; duration = 266; initialDepth = 804.601425; finalDepth = 803.701604; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 33.380078 # Actual altitude: 33.380078 # Commanded vehicle depth: 803.701604 # Seafloor depth: -827.938906 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 133.52; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.35; MB_Bottom_Detect_Filter_Max_Range = 133.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 133.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 58 # Segment length 103.320103 meters # Minimum depth: 824.601425 meters looking forward 100.000000 meters along route # Maximum depth: 830.364594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.601425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805043; longitude = -118.656020; captureRadius = 10; duration = 258; initialDepth = 809.515143; finalDepth = 804.601425; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 24.237302 # Actual altitude: 24.237302 # Commanded vehicle depth: 804.601425 # Seafloor depth: -824.601425 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 96.95; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.69; MB_Bottom_Detect_Filter_Max_Range = 96.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 96.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 57 # Segment length 105.822986 meters # Minimum depth: 829.515143 meters looking forward 100.000000 meters along route # Maximum depth: 830.560867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.515143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805850; longitude = -118.655462; captureRadius = 10; duration = 264; # abortOnTimeout = True; initialDepth = 808.007312; finalDepth = 809.515143; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.962396 # Actual altitude: 20.962396 # Commanded vehicle depth: 809.515143 # Seafloor depth: -830.477539 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 83.85; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.38; MB_Bottom_Detect_Filter_Max_Range = 83.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 83.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 101.830055 meters # Minimum depth: 828.007312 meters looking forward 100.000000 meters along route # Maximum depth: 829.531637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 808.007312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805325; longitude = -118.654508; captureRadius = 10; duration = 254; initialDepth = 806.802862; finalDepth = 808.007312; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.4268360000001 # Actual altitude: 21.4268360000001 # Commanded vehicle depth: 808.007312 # Seafloor depth: -829.434148 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.71; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.57; MB_Bottom_Detect_Filter_Max_Range = 85.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 101.830438 meters # Minimum depth: 826.802862 meters looking forward 100.000000 meters along route # Maximum depth: 828.022857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 806.802862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804819; longitude = -118.653590; captureRadius = 10; duration = 254; initialDepth = 805.213029; finalDepth = 806.802862; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.4268360000001 # Actual altitude: 21.4268360000001 # Commanded vehicle depth: 806.802862 # Seafloor depth: -828.022857 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.71; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.57; MB_Bottom_Detect_Filter_Max_Range = 85.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 101.830820 meters # Minimum depth: 825.213029 meters looking forward 100.000000 meters along route # Maximum depth: 826.804789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 805.213029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804313; longitude = -118.652672; captureRadius = 10; duration = 254; initialDepth = 803.783818; finalDepth = 805.213029; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.579268 # Actual altitude: 21.579268 # Commanded vehicle depth: 805.213029 # Seafloor depth: -826.792297 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 86.32; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.63; MB_Bottom_Detect_Filter_Max_Range = 86.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 86.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 103.630595 meters # Minimum depth: 823.783818 meters looking forward 100.000000 meters along route # Maximum depth: 825.216834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 803.783818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803808; longitude = -118.651754; captureRadius = 10; duration = 259; initialDepth = 802.022658; finalDepth = 803.783818; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.579268 # Actual altitude: 21.579268 # Commanded vehicle depth: 803.783818 # Seafloor depth: -825.216834 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 86.32; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.63; MB_Bottom_Detect_Filter_Max_Range = 86.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 86.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 100.032192 meters # Minimum depth: 822.022658 meters looking forward 100.000000 meters along route # Maximum depth: 823.771743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 802.022658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803294; longitude = -118.650819; captureRadius = 10; duration = 250; initialDepth = 801.043105; finalDepth = 802.022658; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.749085 # Actual altitude: 21.749085 # Commanded vehicle depth: 802.022658 # Seafloor depth: -823.771743 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 87.00; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.70; MB_Bottom_Detect_Filter_Max_Range = 87.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 87.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 101.831968 meters # Minimum depth: 821.043105 meters looking forward 100.000000 meters along route # Maximum depth: 821.985236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 801.043105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802797; longitude = -118.649917; captureRadius = 10; duration = 254; initialDepth = 800.193405; finalDepth = 801.043105; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.749085 # Actual altitude: 21.749085 # Commanded vehicle depth: 801.043105 # Seafloor depth: -821.985236 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 87.00; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.70; MB_Bottom_Detect_Filter_Max_Range = 87.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 87.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 102.755732 meters # Minimum depth: 820.193405 meters looking forward 100.000000 meters along route # Maximum depth: 820.941537 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 800.193405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802291; longitude = -118.648999; captureRadius = 10; duration = 256; initialDepth = 799.834965; finalDepth = 800.193405; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.942131 # Actual altitude: 20.942131 # Commanded vehicle depth: 800.193405 # Seafloor depth: -820.941537 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 83.77; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.38; MB_Bottom_Detect_Filter_Max_Range = 83.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 83.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 100.909350 meters # Minimum depth: 819.834965 meters looking forward 100.000000 meters along route # Maximum depth: 820.216000 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.834965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801781; longitude = -118.648073; captureRadius = 10; duration = 252; initialDepth = 799.536426; finalDepth = 799.834965; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.7481320000001 # Actual altitude: 20.7481320000001 # Commanded vehicle depth: 799.834965 # Seafloor depth: -820.189134 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 82.99; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.30; MB_Bottom_Detect_Filter_Max_Range = 82.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 82.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 101.833115 meters # Minimum depth: 819.536426 meters looking forward 100.000000 meters along route # Maximum depth: 819.982490 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.536426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801280; longitude = -118.647163; captureRadius = 10; duration = 254; initialDepth = 799.730091; finalDepth = 799.536426; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.426013 # Actual altitude: 20.426013 # Commanded vehicle depth: 799.536426 # Seafloor depth: -819.962439 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 81.70; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.17; MB_Bottom_Detect_Filter_Max_Range = 81.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 81.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 101.880851 meters # Minimum depth: 819.730091 meters looking forward 100.000000 meters along route # Maximum depth: 821.526733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.730091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800775; longitude = -118.646245; captureRadius = 10; duration = 254; initialDepth = 801.526990; finalDepth = 799.730091; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.426013 # Actual altitude: 20.426013 # Commanded vehicle depth: 799.730091 # Seafloor depth: -819.730091 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 81.70; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.17; MB_Bottom_Detect_Filter_Max_Range = 81.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 81.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 101.786526 meters # Minimum depth: 821.526990 meters looking forward 100.000000 meters along route # Maximum depth: 823.067962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 801.526990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800269; longitude = -118.645326; captureRadius = 10; duration = 254; initialDepth = 803.154455; finalDepth = 801.526990; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 801.52699 # Seafloor depth: -821.526990 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 57 # Segment length 101.834263 meters # Minimum depth: 823.154455 meters looking forward 100.000000 meters along route # Maximum depth: 825.374817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 803.154455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799764; longitude = -118.644409; captureRadius = 10; duration = 254; initialDepth = 805.583342; finalDepth = 803.154455; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 803.154455 # Seafloor depth: -823.154455 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 57 # Segment length 101.834645 meters # Minimum depth: 825.583342 meters looking forward 100.000000 meters along route # Maximum depth: 829.329780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 805.583342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799258; longitude = -118.643491; captureRadius = 10; duration = 254; initialDepth = 809.373009; finalDepth = 805.583342; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 805.583342 # Seafloor depth: -825.583342 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 57 # Segment length 101.835028 meters # Minimum depth: 829.373009 meters looking forward 100.000000 meters along route # Maximum depth: 833.791072 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.373009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798753; longitude = -118.642572; captureRadius = 10; duration = 254; initialDepth = 814.043582; finalDepth = 809.373009; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 809.373009 # Seafloor depth: -829.373009 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 57 # Segment length 101.835410 meters # Minimum depth: 834.043582 meters looking forward 100.000000 meters along route # Maximum depth: 839.180987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 814.043582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798247; longitude = -118.641654; captureRadius = 10; duration = 254; initialDepth = 819.536147; finalDepth = 814.043582; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 814.043582 # Seafloor depth: -834.043582 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 57 # Segment length 100.131029 meters # Minimum depth: 839.536147 meters looking forward 100.000000 meters along route # Maximum depth: 844.500987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 819.536147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797742; longitude = -118.640736; captureRadius = 10; duration = 250; initialDepth = 824.671645; finalDepth = 819.536147; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 819.536147 # Seafloor depth: -839.536147 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 57 # Segment length 101.544148 meters # Minimum depth: 844.671645 meters looking forward 100.000000 meters along route # Maximum depth: 849.074801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 824.671645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797245; longitude = -118.639833; captureRadius = 10; duration = 253; initialDepth = 828.334347; finalDepth = 824.671645; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 824.671645 # Seafloor depth: -844.671645 # behavior reson { duration = RESON_DURATION; 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 = 55; 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 56 # Segment length 82.700936 meters # Minimum depth: 848.334347 meters looking forward 100.000000 meters along route # Maximum depth: 849.296127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 828.334347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796741; longitude = -118.638918; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 828.002481; finalDepth = 828.334347; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.9301390000001 # Actual altitude: 20.9301390000001 # Commanded vehicle depth: 828.334347 # Seafloor depth: -849.264486 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 83.72; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.37; MB_Bottom_Detect_Filter_Max_Range = 83.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 83.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 106.330043 meters # Minimum depth: 848.002481 meters looking forward 100.000000 meters along route # Maximum depth: 848.313303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 828.002481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796110; longitude = -118.639396; captureRadius = 10; duration = 265; initialDepth = 828.201678; finalDepth = 828.002481; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.9301390000001 # Actual altitude: 20.9301390000001 # Commanded vehicle depth: 828.002481 # Seafloor depth: -848.313303 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 83.72; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.37; MB_Bottom_Detect_Filter_Max_Range = 83.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 83.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 103.967442 meters # Minimum depth: 848.201678 meters looking forward 100.000000 meters along route # Maximum depth: 848.687010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 828.201678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795300; longitude = -118.640010; captureRadius = 10; duration = 259; initialDepth = 822.007687; finalDepth = 828.201678; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 20.310822 # Actual altitude: 20.310822 # Commanded vehicle depth: 828.201678 # Seafloor depth: -848.201678 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 81.24; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.12; MB_Bottom_Detect_Filter_Max_Range = 81.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 81.24; 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 55 # Segment length 79.464611 meters # Minimum depth: 842.007687 meters looking forward 100.000000 meters along route # Maximum depth: 848.689941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 822.007687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794508; longitude = -118.640610; captureRadius = 10; duration = 198; # abortOnTimeout = True; initialDepth = 816.152044; finalDepth = 822.007687; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.6822539999999 # Actual altitude: 26.6822539999999 # Commanded vehicle depth: 822.007687 # Seafloor depth: -848.689941 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 106.73; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.67; MB_Bottom_Detect_Filter_Max_Range = 106.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 106.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 101.317042 meters # Minimum depth: 836.152044 meters looking forward 100.000000 meters along route # Maximum depth: 841.682295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 816.152044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794898; longitude = -118.641330; captureRadius = 10; duration = 253; initialDepth = 812.994930; finalDepth = 816.152044; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.6822539999999 # Actual altitude: 26.6822539999999 # Commanded vehicle depth: 816.152044 # Seafloor depth: -841.682295 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 106.73; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.67; MB_Bottom_Detect_Filter_Max_Range = 106.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 106.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.837541 meters # Minimum depth: 832.994930 meters looking forward 100.000000 meters along route # Maximum depth: 835.867142 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 812.994930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795395; longitude = -118.642248; captureRadius = 10; duration = 254; initialDepth = 812.050974; finalDepth = 812.994930; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.5302509999999 # Actual altitude: 25.5302509999999 # Commanded vehicle depth: 812.99493 # Seafloor depth: -835.867142 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 102.12; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.21; MB_Bottom_Detect_Filter_Max_Range = 102.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 102.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 100.795410 meters # Minimum depth: 832.050974 meters looking forward 100.000000 meters along route # Maximum depth: 832.987848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 812.050974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795894; longitude = -118.643171; captureRadius = 10; duration = 251; initialDepth = 810.808236; finalDepth = 812.050974; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.872212 # Actual altitude: 22.872212 # Commanded vehicle depth: 812.050974 # Seafloor depth: -832.987848 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 91.49; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.15; MB_Bottom_Detect_Filter_Max_Range = 91.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 91.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.315909 meters # Minimum depth: 830.808236 meters looking forward 100.000000 meters along route # Maximum depth: 832.007906 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 810.808236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796389; longitude = -118.644085; captureRadius = 10; duration = 253; initialDepth = 810.001760; finalDepth = 810.808236; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.1996700000001 # Actual altitude: 21.1996700000001 # Commanded vehicle depth: 810.808236 # Seafloor depth: -832.007906 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.80; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.48; MB_Bottom_Detect_Filter_Max_Range = 84.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.315531 meters # Minimum depth: 830.001760 meters looking forward 100.000000 meters along route # Maximum depth: 830.770020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 810.001760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796886; longitude = -118.645003; captureRadius = 10; duration = 253; initialDepth = 807.500834; finalDepth = 810.001760; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.1996700000001 # Actual altitude: 21.1996700000001 # Commanded vehicle depth: 810.00176 # Seafloor depth: -830.770020 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.80; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.48; MB_Bottom_Detect_Filter_Max_Range = 84.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.315153 meters # Minimum depth: 827.500834 meters looking forward 100.000000 meters along route # Maximum depth: 829.864350 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 807.500834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797383; longitude = -118.645921; captureRadius = 10; duration = 253; initialDepth = 803.417704; finalDepth = 807.500834; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.3635159999999 # Actual altitude: 22.3635159999999 # Commanded vehicle depth: 807.500834 # Seafloor depth: -829.864350 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 89.45; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.95; MB_Bottom_Detect_Filter_Max_Range = 89.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 89.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.762963 meters # Minimum depth: 823.417704 meters looking forward 100.000000 meters along route # Maximum depth: 827.213747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 803.417704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797880; longitude = -118.646839; captureRadius = 10; duration = 254; initialDepth = 803.738724; finalDepth = 803.417704; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 23.7960430000001 # Actual altitude: 23.7960430000001 # Commanded vehicle depth: 803.417704 # Seafloor depth: -827.213747 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 95.18; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.52; MB_Bottom_Detect_Filter_Max_Range = 95.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 95.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 100.866211 meters # Minimum depth: 823.738724 meters looking forward 100.000000 meters along route # Maximum depth: 826.849754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 803.738724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798379; longitude = -118.647761; captureRadius = 10; duration = 252; initialDepth = 805.044925; finalDepth = 803.738724; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 23.7960430000001 # Actual altitude: 23.7960430000001 # Commanded vehicle depth: 803.738724 # Seafloor depth: -824.173046 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 95.18; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.52; MB_Bottom_Detect_Filter_Max_Range = 95.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 95.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.314019 meters # Minimum depth: 825.044925 meters looking forward 100.000000 meters along route # Maximum depth: 826.623188 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 805.044925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798874; longitude = -118.648675; captureRadius = 10; duration = 253; initialDepth = 800.779943; finalDepth = 805.044925; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.578263 # Actual altitude: 21.578263 # Commanded vehicle depth: 805.044925 # Seafloor depth: -826.623188 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 86.31; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.63; MB_Bottom_Detect_Filter_Max_Range = 86.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 86.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.313643 meters # Minimum depth: 820.779943 meters looking forward 100.000000 meters along route # Maximum depth: 824.906912 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 800.779943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799370; longitude = -118.649593; captureRadius = 10; duration = 253; initialDepth = 799.897699; finalDepth = 800.779943; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 24.126969 # Actual altitude: 24.126969 # Commanded vehicle depth: 800.779943 # Seafloor depth: -824.906912 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 96.51; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.65; MB_Bottom_Detect_Filter_Max_Range = 96.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 96.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.313264 meters # Minimum depth: 819.897699 meters looking forward 100.000000 meters along route # Maximum depth: 820.605008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.897699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799867; longitude = -118.650512; captureRadius = 10; duration = 253; initialDepth = 799.715596; finalDepth = 799.897699; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 24.126969 # Actual altitude: 24.126969 # Commanded vehicle depth: 799.897699 # Seafloor depth: -820.605008 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 96.51; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.65; MB_Bottom_Detect_Filter_Max_Range = 96.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 96.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.688388 meters # Minimum depth: 819.715596 meters looking forward 100.000000 meters along route # Maximum depth: 820.242971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.715596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800364; longitude = -118.651430; captureRadius = 10; duration = 254; initialDepth = 799.970062; finalDepth = 799.715596; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.707309 # Actual altitude: 20.707309 # Commanded vehicle depth: 799.715596 # Seafloor depth: -820.242971 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 82.83; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.28; MB_Bottom_Detect_Filter_Max_Range = 82.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 82.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 100.937008 meters # Minimum depth: 819.970062 meters looking forward 100.000000 meters along route # Maximum depth: 822.359818 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.970062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800863; longitude = -118.652351; captureRadius = 10; duration = 252; initialDepth = 802.416121; finalDepth = 799.970062; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.527375 # Actual altitude: 20.527375 # Commanded vehicle depth: 799.970062 # Seafloor depth: -819.970062 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 82.11; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.21; MB_Bottom_Detect_Filter_Max_Range = 82.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 82.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.312131 meters # Minimum depth: 822.416121 meters looking forward 100.000000 meters along route # Maximum depth: 825.129397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 802.416121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801358; longitude = -118.653266; captureRadius = 10; duration = 253; initialDepth = 805.220582; finalDepth = 802.416121; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 802.416121 # Seafloor depth: -822.416121 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 55 # Segment length 101.311754 meters # Minimum depth: 825.220582 meters looking forward 100.000000 meters along route # Maximum depth: 828.761437 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 805.220582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801855; longitude = -118.654184; captureRadius = 10; duration = 253; initialDepth = 808.722702; finalDepth = 805.220582; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 805.220582 # Seafloor depth: -825.220582 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 55 # Segment length 103.830832 meters # Minimum depth: 828.722702 meters looking forward 100.000000 meters along route # Maximum depth: 834.776033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 808.722702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802352; longitude = -118.655102; captureRadius = 10; duration = 259; initialDepth = 814.093936; finalDepth = 808.722702; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 808.722702 # Seafloor depth: -828.722702 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 55 # Segment length 102.764515 meters # Minimum depth: 834.093936 meters looking forward 100.000000 meters along route # Maximum depth: 840.124648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 814.093936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802861; longitude = -118.656043; captureRadius = 10; duration = 256; initialDepth = 810.069662; finalDepth = 814.093936; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 20.63993 # Actual altitude: 20.63993 # Commanded vehicle depth: 814.093936 # Seafloor depth: -834.733866 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 82.56; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.26; MB_Bottom_Detect_Filter_Max_Range = 82.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 82.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 54 # Segment length 81.154924 meters # Minimum depth: 830.069662 meters looking forward 100.000000 meters along route # Maximum depth: 840.124648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 810.069662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803366; longitude = -118.656975; captureRadius = 10; duration = 202; # abortOnTimeout = True; initialDepth = 803.042875; finalDepth = 810.069662; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 30.027994 # Actual altitude: 30.027994 # Commanded vehicle depth: 810.069662 # Seafloor depth: -840.097656 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 120.11; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.01; MB_Bottom_Detect_Filter_Max_Range = 120.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 120.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 102.422881 meters # Minimum depth: 823.042875 meters looking forward 100.000000 meters along route # Maximum depth: 829.197860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 803.042875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803996; longitude = -118.656529; captureRadius = 10; duration = 256; initialDepth = 803.361926; finalDepth = 803.042875; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 30.027994 # Actual altitude: 30.027994 # Commanded vehicle depth: 803.042875 # Seafloor depth: -829.197860 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 120.11; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.01; MB_Bottom_Detect_Filter_Max_Range = 120.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 120.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 101.623075 meters # Minimum depth: 823.361926 meters looking forward 100.000000 meters along route # Maximum depth: 829.025575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 803.361926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804791; longitude = -118.655966; captureRadius = 10; duration = 254; initialDepth = 807.202960; finalDepth = 803.361926; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 26.154985 # Actual altitude: 26.154985 # Commanded vehicle depth: 803.361926 # Seafloor depth: -823.361926 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 104.62; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.46; MB_Bottom_Detect_Filter_Max_Range = 104.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 104.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 53 # Segment length 159.852741 meters # Minimum depth: 827.202960 meters looking forward 100.000000 meters along route # Maximum depth: 829.164062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 807.202960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805580; longitude = -118.655408; captureRadius = 10; duration = 399; # abortOnTimeout = True; initialDepth = 806.000544; finalDepth = 807.202960; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.961102 # Actual altitude: 21.961102 # Commanded vehicle depth: 807.20296 # Seafloor depth: -829.164062 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 87.84; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.78; MB_Bottom_Detect_Filter_Max_Range = 87.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 87.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 101.906615 meters # Minimum depth: 826.000544 meters looking forward 100.000000 meters along route # Maximum depth: 827.070019 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 806.000544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804785; longitude = -118.653968; captureRadius = 10; duration = 254; initialDepth = 804.204468; finalDepth = 806.000544; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.961102 # Actual altitude: 21.961102 # Commanded vehicle depth: 806.000544 # Seafloor depth: -827.070019 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 87.84; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.78; MB_Bottom_Detect_Filter_Max_Range = 87.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 87.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 101.906997 meters # Minimum depth: 824.204468 meters looking forward 100.000000 meters along route # Maximum depth: 825.956538 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.204468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804278; longitude = -118.653050; captureRadius = 10; duration = 254; initialDepth = 802.995437; finalDepth = 804.204468; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.75207 # Actual altitude: 21.75207 # Commanded vehicle depth: 804.204468 # Seafloor depth: -825.956538 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 87.01; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.70; MB_Bottom_Detect_Filter_Max_Range = 87.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 87.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 101.907381 meters # Minimum depth: 822.995437 meters looking forward 100.000000 meters along route # Maximum depth: 824.243111 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 802.995437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803771; longitude = -118.652132; captureRadius = 10; duration = 254; initialDepth = 801.027817; finalDepth = 802.995437; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.75207 # Actual altitude: 21.75207 # Commanded vehicle depth: 802.995437 # Seafloor depth: -824.243111 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 87.01; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.70; MB_Bottom_Detect_Filter_Max_Range = 87.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 87.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 102.793604 meters # Minimum depth: 821.027817 meters looking forward 100.000000 meters along route # Maximum depth: 822.978747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 801.027817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803265; longitude = -118.651214; captureRadius = 10; duration = 256; initialDepth = 800.091383; finalDepth = 801.027817; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.95093 # Actual altitude: 21.95093 # Commanded vehicle depth: 801.027817 # Seafloor depth: -822.978747 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 87.80; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.78; MB_Bottom_Detect_Filter_Max_Range = 87.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 87.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 101.022307 meters # Minimum depth: 820.091383 meters looking forward 100.000000 meters along route # Maximum depth: 821.019512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 800.091383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802753; longitude = -118.650288; captureRadius = 10; duration = 252; initialDepth = 799.001311; finalDepth = 800.091383; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.95093 # Actual altitude: 21.95093 # Commanded vehicle depth: 800.091383 # Seafloor depth: -821.019512 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 87.80; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.78; MB_Bottom_Detect_Filter_Max_Range = 87.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 87.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 101.908530 meters # Minimum depth: 819.001311 meters looking forward 100.000000 meters along route # Maximum depth: 820.005358 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.001311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802251; longitude = -118.649377; captureRadius = 10; duration = 254; initialDepth = 798.671018; finalDepth = 799.001311; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.004047 # Actual altitude: 21.004047 # Commanded vehicle depth: 799.001311 # Seafloor depth: -820.005358 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.02; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.40; MB_Bottom_Detect_Filter_Max_Range = 84.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 101.908914 meters # Minimum depth: 818.671018 meters looking forward 100.000000 meters along route # Maximum depth: 819.061559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 798.671018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801744; longitude = -118.648459; captureRadius = 10; duration = 254; initialDepth = 798.035639; finalDepth = 798.671018; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.004047 # Actual altitude: 21.004047 # Commanded vehicle depth: 798.671018 # Seafloor depth: -818.873083 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.02; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.40; MB_Bottom_Detect_Filter_Max_Range = 84.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 101.909296 meters # Minimum depth: 818.035639 meters looking forward 100.000000 meters along route # Maximum depth: 818.817766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 798.035639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801238; longitude = -118.647541; captureRadius = 10; duration = 254; initialDepth = 798.008930; finalDepth = 798.035639; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.75162 # Actual altitude: 20.75162 # Commanded vehicle depth: 798.035639 # Seafloor depth: -818.787259 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 83.01; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.30; MB_Bottom_Detect_Filter_Max_Range = 83.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 83.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 103.705663 meters # Minimum depth: 818.008930 meters looking forward 100.000000 meters along route # Maximum depth: 819.674577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 798.008930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800731; longitude = -118.646623; captureRadius = 10; duration = 259; initialDepth = 799.706436; finalDepth = 798.008930; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.75162 # Actual altitude: 20.75162 # Commanded vehicle depth: 798.00893 # Seafloor depth: -818.008930 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 83.01; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.30; MB_Bottom_Detect_Filter_Max_Range = 83.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 83.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 100.114080 meters # Minimum depth: 819.706436 meters looking forward 100.000000 meters along route # Maximum depth: 821.625506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.706436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800215; longitude = -118.645689; captureRadius = 10; duration = 250; initialDepth = 801.681126; finalDepth = 799.706436; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 799.706436 # Seafloor depth: -819.706436 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 53 # Segment length 101.910446 meters # Minimum depth: 821.681126 meters looking forward 100.000000 meters along route # Maximum depth: 823.526951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 801.681126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799717; longitude = -118.644787; captureRadius = 10; duration = 254; initialDepth = 803.663885; finalDepth = 801.681126; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 801.681126 # Seafloor depth: -821.681126 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 53 # Segment length 102.080722 meters # Minimum depth: 823.663885 meters looking forward 100.000000 meters along route # Maximum depth: 826.779067 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 803.663885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799210; longitude = -118.643869; captureRadius = 10; duration = 255; initialDepth = 806.785277; finalDepth = 803.663885; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 803.663885 # Seafloor depth: -823.663885 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 53 # Segment length 101.741320 meters # Minimum depth: 826.785277 meters looking forward 100.000000 meters along route # Maximum depth: 831.346298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 806.785277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798703; longitude = -118.642949; captureRadius = 10; duration = 254; initialDepth = 811.502120; finalDepth = 806.785277; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 806.785277 # Seafloor depth: -826.785277 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 53 # Segment length 101.911596 meters # Minimum depth: 831.502120 meters looking forward 100.000000 meters along route # Maximum depth: 836.366359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 811.502120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798197; longitude = -118.642032; captureRadius = 10; duration = 254; initialDepth = 816.847349; finalDepth = 811.502120; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 811.50212 # Seafloor depth: -831.502120 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 53 # Segment length 100.455744 meters # Minimum depth: 836.847349 meters looking forward 100.000000 meters along route # Maximum depth: 842.552269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 816.847349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797690; longitude = -118.641114; captureRadius = 10; duration = 251; initialDepth = 822.824268; finalDepth = 816.847349; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 816.847349 # Seafloor depth: -836.847349 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 53 # Segment length 101.370312 meters # Minimum depth: 842.824268 meters looking forward 100.000000 meters along route # Maximum depth: 847.285068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 822.824268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797191; longitude = -118.640209; captureRadius = 10; duration = 253; initialDepth = 826.224463; finalDepth = 822.824268; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 822.824268 # Seafloor depth: -842.824268 # behavior reson { duration = RESON_DURATION; 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 = 55; 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 52 # Segment length 145.664499 meters # Minimum depth: 846.224463 meters looking forward 100.000000 meters along route # Maximum depth: 847.469482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 826.224463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796687; longitude = -118.639296; captureRadius = 10; duration = 364; # abortOnTimeout = True; initialDepth = 826.234440; finalDepth = 826.224463; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.245019 # Actual altitude: 21.245019 # Commanded vehicle depth: 826.224463 # Seafloor depth: -847.469482 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.98; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.50; MB_Bottom_Detect_Filter_Max_Range = 84.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 101.025701 meters # Minimum depth: 846.234440 meters looking forward 100.000000 meters along route # Maximum depth: 846.358164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 826.234440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795570; longitude = -118.640125; captureRadius = 10; duration = 252; initialDepth = 816.158570; finalDepth = 826.234440; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 21.245019 # Actual altitude: 21.245019 # Commanded vehicle depth: 826.23444 # Seafloor depth: -846.327363 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.98; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.50; MB_Bottom_Detect_Filter_Max_Range = 84.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 51 # Segment length 141.255044 meters # Minimum depth: 836.158570 meters looking forward 100.000000 meters along route # Maximum depth: 846.291260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 816.158570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794796; longitude = -118.640700; captureRadius = 10; duration = 353; # abortOnTimeout = True; initialDepth = 812.174321; finalDepth = 816.158570; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 30.1326899999999 # Actual altitude: 30.1326899999999 # Commanded vehicle depth: 816.15857 # Seafloor depth: -846.291260 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 120.53; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.05; MB_Bottom_Detect_Filter_Max_Range = 120.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 120.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 101.464438 meters # Minimum depth: 832.174321 meters looking forward 100.000000 meters along route # Maximum depth: 835.881994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 812.174321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795491; longitude = -118.641978; captureRadius = 10; duration = 253; initialDepth = 811.031168; finalDepth = 812.174321; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 30.1326899999999 # Actual altitude: 30.1326899999999 # Commanded vehicle depth: 812.174321 # Seafloor depth: -835.881994 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 120.53; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.05; MB_Bottom_Detect_Filter_Max_Range = 120.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 120.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 101.464058 meters # Minimum depth: 831.031168 meters looking forward 100.000000 meters along route # Maximum depth: 832.085092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 811.031168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795991; longitude = -118.642896; captureRadius = 10; duration = 253; initialDepth = 809.585081; finalDepth = 811.031168; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 23.707673 # Actual altitude: 23.707673 # Commanded vehicle depth: 811.031168 # Seafloor depth: -832.085092 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 94.83; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.48; MB_Bottom_Detect_Filter_Max_Range = 94.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 94.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 101.463679 meters # Minimum depth: 829.585081 meters looking forward 100.000000 meters along route # Maximum depth: 831.028662 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.585081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796490; longitude = -118.643815; captureRadius = 10; duration = 253; initialDepth = 808.618532; finalDepth = 809.585081; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.4435810000001 # Actual altitude: 21.4435810000001 # Commanded vehicle depth: 809.585081 # Seafloor depth: -831.028662 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.77; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.58; MB_Bottom_Detect_Filter_Max_Range = 85.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 101.463299 meters # Minimum depth: 828.618532 meters looking forward 100.000000 meters along route # Maximum depth: 829.727769 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 808.618532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796990; longitude = -118.644733; captureRadius = 10; duration = 253; initialDepth = 806.089621; finalDepth = 808.618532; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.4435810000001 # Actual altitude: 21.4435810000001 # Commanded vehicle depth: 808.618532 # Seafloor depth: -829.713813 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.77; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.58; MB_Bottom_Detect_Filter_Max_Range = 85.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 101.462921 meters # Minimum depth: 826.089621 meters looking forward 100.000000 meters along route # Maximum depth: 828.638836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 806.089621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797489; longitude = -118.645651; captureRadius = 10; duration = 253; initialDepth = 798.292975; finalDepth = 806.089621; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.549215 # Actual altitude: 22.549215 # Commanded vehicle depth: 806.089621 # Seafloor depth: -828.638836 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 90.20; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.02; MB_Bottom_Detect_Filter_Max_Range = 90.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 90.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 101.462541 meters # Minimum depth: 818.292975 meters looking forward 100.000000 meters along route # Maximum depth: 825.769089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 798.292975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797988; longitude = -118.646569; captureRadius = 10; duration = 253; initialDepth = 798.928482; finalDepth = 798.292975; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.4761140000001 # Actual altitude: 27.4761140000001 # Commanded vehicle depth: 798.292975 # Seafloor depth: -825.769089 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 109.90; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.99; MB_Bottom_Detect_Filter_Max_Range = 109.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 109.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 101.462163 meters # Minimum depth: 818.928482 meters looking forward 100.000000 meters along route # Maximum depth: 825.060021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 798.928482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798488; longitude = -118.647487; captureRadius = 10; duration = 253; initialDepth = 802.928798; finalDepth = 798.928482; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.4761140000001 # Actual altitude: 27.4761140000001 # Commanded vehicle depth: 798.928482 # Seafloor depth: -818.928482 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 109.90; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.99; MB_Bottom_Detect_Filter_Max_Range = 109.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 109.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 101.461783 meters # Minimum depth: 822.928798 meters looking forward 100.000000 meters along route # Maximum depth: 825.300985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 802.928798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798987; longitude = -118.648405; captureRadius = 10; duration = 253; initialDepth = 798.761900; finalDepth = 802.928798; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.2705539999999 # Actual altitude: 22.2705539999999 # Commanded vehicle depth: 802.928798 # Seafloor depth: -825.199352 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 89.08; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.91; MB_Bottom_Detect_Filter_Max_Range = 89.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 89.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 101.461404 meters # Minimum depth: 818.761900 meters looking forward 100.000000 meters along route # Maximum depth: 822.844119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 798.761900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799487; longitude = -118.649323; captureRadius = 10; duration = 253; initialDepth = 797.437927; finalDepth = 798.761900; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 24.082219 # Actual altitude: 24.082219 # Commanded vehicle depth: 798.7619 # Seafloor depth: -822.844119 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 96.33; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.63; MB_Bottom_Detect_Filter_Max_Range = 96.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 96.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 101.461025 meters # Minimum depth: 817.437927 meters looking forward 100.000000 meters along route # Maximum depth: 818.483837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.437927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799986; longitude = -118.650242; captureRadius = 10; duration = 253; initialDepth = 797.595635; finalDepth = 797.437927; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 24.082219 # Actual altitude: 24.082219 # Commanded vehicle depth: 797.437927 # Seafloor depth: -818.483837 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 96.33; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.63; MB_Bottom_Detect_Filter_Max_Range = 96.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 96.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 101.460646 meters # Minimum depth: 817.595635 meters looking forward 100.000000 meters along route # Maximum depth: 817.907080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.595635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800485; longitude = -118.651160; captureRadius = 10; duration = 253; initialDepth = 797.815583; finalDepth = 797.595635; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.04591 # Actual altitude: 21.04591 # Commanded vehicle depth: 797.595635 # Seafloor depth: -817.893981 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.18; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.42; MB_Bottom_Detect_Filter_Max_Range = 84.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 101.460267 meters # Minimum depth: 817.815583 meters looking forward 100.000000 meters along route # Maximum depth: 819.892979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.815583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800985; longitude = -118.652078; captureRadius = 10; duration = 253; initialDepth = 800.029490; finalDepth = 797.815583; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.298346 # Actual altitude: 20.298346 # Commanded vehicle depth: 797.815583 # Seafloor depth: -817.815583 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 81.19; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.12; MB_Bottom_Detect_Filter_Max_Range = 81.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 81.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 101.459888 meters # Minimum depth: 820.029490 meters looking forward 100.000000 meters along route # Maximum depth: 822.343243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 800.029490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801484; longitude = -118.652996; captureRadius = 10; duration = 253; initialDepth = 802.497587; finalDepth = 800.029490; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 800.02949 # Seafloor depth: -820.029490 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 51 # Segment length 101.546005 meters # Minimum depth: 822.497587 meters looking forward 100.000000 meters along route # Maximum depth: 824.266787 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 802.497587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801984; longitude = -118.653914; captureRadius = 10; duration = 253; initialDepth = 804.268468; finalDepth = 802.497587; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 802.497587 # Seafloor depth: -822.497587 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 51 # Segment length 101.372634 meters # Minimum depth: 824.268468 meters looking forward 100.000000 meters along route # Maximum depth: 828.042651 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.268468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802483; longitude = -118.654833; captureRadius = 10; duration = 253; initialDepth = 808.194448; finalDepth = 804.268468; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 804.268468 # Seafloor depth: -824.268468 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 51 # Segment length 103.448134 meters # Minimum depth: 828.194448 meters looking forward 100.000000 meters along route # Maximum depth: 837.425717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 808.194448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802982; longitude = -118.655750; captureRadius = 10; duration = 258; initialDepth = 802.567959; finalDepth = 808.194448; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 808.194448 # Seafloor depth: -828.194448 # behavior reson { duration = RESON_DURATION; 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 = 55; 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 50 # Segment length 134.414683 meters # Minimum depth: 822.567959 meters looking forward 100.000000 meters along route # Maximum depth: 837.533610 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 802.567959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803492; longitude = -118.656687; captureRadius = 10; duration = 336; # abortOnTimeout = True; initialDepth = 802.543576; finalDepth = 802.567959; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 34.965651 # Actual altitude: 34.965651 # Commanded vehicle depth: 802.567959 # Seafloor depth: -837.533610 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 139.86; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.99; MB_Bottom_Detect_Filter_Max_Range = 139.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 139.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 101.969466 meters # Minimum depth: 822.543576 meters looking forward 100.000000 meters along route # Maximum depth: 827.175617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 802.543576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804536; longitude = -118.655949; captureRadius = 10; duration = 254; initialDepth = 806.076555; finalDepth = 802.543576; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 34.965651 # Actual altitude: 34.965651 # Commanded vehicle depth: 802.543576 # Seafloor depth: -822.543576 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 139.86; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.99; MB_Bottom_Detect_Filter_Max_Range = 139.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 139.86; 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 49 # Segment length 121.848565 meters # Minimum depth: 826.076555 meters looking forward 100.000000 meters along route # Maximum depth: 827.511230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 806.076555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805328; longitude = -118.655390; captureRadius = 10; duration = 304; # abortOnTimeout = True; initialDepth = 804.743275; finalDepth = 806.076555; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.434675 # Actual altitude: 21.434675 # Commanded vehicle depth: 806.076555 # Seafloor depth: -827.511230 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.74; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.57; MB_Bottom_Detect_Filter_Max_Range = 85.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 102.767115 meters # Minimum depth: 824.743275 meters looking forward 100.000000 meters along route # Maximum depth: 826.011508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.743275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804722; longitude = -118.654292; captureRadius = 10; duration = 256; initialDepth = 803.309126; finalDepth = 804.743275; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.434675 # Actual altitude: 21.434675 # Commanded vehicle depth: 804.743275 # Seafloor depth: -826.011508 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.74; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.57; MB_Bottom_Detect_Filter_Max_Range = 85.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 100.980889 meters # Minimum depth: 823.309126 meters looking forward 100.000000 meters along route # Maximum depth: 824.738508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 803.309126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804212; longitude = -118.653366; captureRadius = 10; duration = 252; initialDepth = 802.035159; finalDepth = 803.309126; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.429382 # Actual altitude: 21.429382 # Commanded vehicle depth: 803.309126 # Seafloor depth: -824.738508 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.72; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.57; MB_Bottom_Detect_Filter_Max_Range = 85.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 101.874576 meters # Minimum depth: 822.035159 meters looking forward 100.000000 meters along route # Maximum depth: 823.258683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 802.035159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803710; longitude = -118.652456; captureRadius = 10; duration = 254; initialDepth = 800.363309; finalDepth = 802.035159; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.429382 # Actual altitude: 21.429382 # Commanded vehicle depth: 802.035159 # Seafloor depth: -823.258683 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.72; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.57; MB_Bottom_Detect_Filter_Max_Range = 85.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 101.874959 meters # Minimum depth: 820.363309 meters looking forward 100.000000 meters along route # Maximum depth: 821.965275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 800.363309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803204; longitude = -118.651538; captureRadius = 10; duration = 254; initialDepth = 799.276009; finalDepth = 800.363309; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.6019660000001 # Actual altitude: 21.6019660000001 # Commanded vehicle depth: 800.363309 # Seafloor depth: -821.965275 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 86.41; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.64; MB_Bottom_Detect_Filter_Max_Range = 86.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 86.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 101.875342 meters # Minimum depth: 819.276009 meters looking forward 100.000000 meters along route # Maximum depth: 820.354289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.276009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802697; longitude = -118.650620; captureRadius = 10; duration = 254; initialDepth = 798.299026; finalDepth = 799.276009; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.6019660000001 # Actual altitude: 21.6019660000001 # Commanded vehicle depth: 799.276009 # Seafloor depth: -820.354289 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 86.41; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.64; MB_Bottom_Detect_Filter_Max_Range = 86.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 86.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 101.875725 meters # Minimum depth: 818.299026 meters looking forward 100.000000 meters along route # Maximum depth: 819.233494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 798.299026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802191; longitude = -118.649701; captureRadius = 10; duration = 254; initialDepth = 797.753886; finalDepth = 798.299026; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.0782799999999 # Actual altitude: 21.0782799999999 # Commanded vehicle depth: 798.299026 # Seafloor depth: -819.233494 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.31; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.43; MB_Bottom_Detect_Filter_Max_Range = 84.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 101.876107 meters # Minimum depth: 817.753886 meters looking forward 100.000000 meters along route # Maximum depth: 818.210092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.753886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801685; longitude = -118.648783; captureRadius = 10; duration = 254; initialDepth = 797.288099; finalDepth = 797.753886; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.9344679999999 # Actual altitude: 20.9344679999999 # Commanded vehicle depth: 797.753886 # Seafloor depth: -818.210092 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 83.74; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.37; MB_Bottom_Detect_Filter_Max_Range = 83.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 83.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 101.876491 meters # Minimum depth: 817.288099 meters looking forward 100.000000 meters along route # Maximum depth: 817.893621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.288099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801179; longitude = -118.647865; captureRadius = 10; duration = 254; initialDepth = 796.950145; finalDepth = 797.288099; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.588615 # Actual altitude: 20.588615 # Commanded vehicle depth: 797.288099 # Seafloor depth: -817.876714 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 82.35; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.24; MB_Bottom_Detect_Filter_Max_Range = 82.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 82.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 102.919094 meters # Minimum depth: 816.950145 meters looking forward 100.000000 meters along route # Maximum depth: 818.031986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.950145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800672; longitude = -118.646947; captureRadius = 10; duration = 257; initialDepth = 798.054287; finalDepth = 796.950145; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.588615 # Actual altitude: 20.588615 # Commanded vehicle depth: 796.950145 # Seafloor depth: -817.132615 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 82.35; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.24; MB_Bottom_Detect_Filter_Max_Range = 82.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 82.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 100.835035 meters # Minimum depth: 818.054287 meters looking forward 100.000000 meters along route # Maximum depth: 820.557271 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 798.054287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800161; longitude = -118.646020; captureRadius = 10; duration = 252; initialDepth = 800.634042; finalDepth = 798.054287; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.18247 # Actual altitude: 20.18247 # Commanded vehicle depth: 798.054287 # Seafloor depth: -818.054287 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.73; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.07; MB_Bottom_Detect_Filter_Max_Range = 80.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 101.877639 meters # Minimum depth: 820.634042 meters looking forward 100.000000 meters along route # Maximum depth: 822.549627 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 800.634042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799660; longitude = -118.645111; captureRadius = 10; duration = 254; initialDepth = 802.650664; finalDepth = 800.634042; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 800.634042 # Seafloor depth: -820.634042 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 49 # Segment length 101.878023 meters # Minimum depth: 822.650664 meters looking forward 100.000000 meters along route # Maximum depth: 825.190438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 802.650664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799154; longitude = -118.644193; captureRadius = 10; duration = 254; initialDepth = 805.198985; finalDepth = 802.650664; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 802.650664 # Seafloor depth: -822.650664 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 49 # Segment length 101.878405 meters # Minimum depth: 825.198985 meters looking forward 100.000000 meters along route # Maximum depth: 829.576920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 805.198985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798648; longitude = -118.643275; captureRadius = 10; duration = 254; initialDepth = 809.745253; finalDepth = 805.198985; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 805.198985 # Seafloor depth: -825.198985 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 49 # Segment length 101.878788 meters # Minimum depth: 829.745253 meters looking forward 100.000000 meters along route # Maximum depth: 834.335232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.745253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798141; longitude = -118.642356; captureRadius = 10; duration = 254; initialDepth = 814.554478; finalDepth = 809.745253; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 809.745253 # Seafloor depth: -829.745253 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 49 # Segment length 100.315804 meters # Minimum depth: 834.554478 meters looking forward 100.000000 meters along route # Maximum depth: 840.426187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 814.554478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797635; longitude = -118.641438; captureRadius = 10; duration = 250; initialDepth = 820.686330; finalDepth = 814.554478; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 814.554478 # Seafloor depth: -834.554478 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 49 # Segment length 101.445278 meters # Minimum depth: 840.686330 meters looking forward 100.000000 meters along route # Maximum depth: 845.868710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 820.686330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797137; longitude = -118.640534; captureRadius = 10; duration = 253; initialDepth = 824.573839; finalDepth = 820.686330; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 820.68633 # Seafloor depth: -840.686330 # behavior reson { duration = RESON_DURATION; 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 = 55; 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 48 # Segment length 103.988804 meters # Minimum depth: 844.573839 meters looking forward 100.000000 meters along route # Maximum depth: 845.996582 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 824.573839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796633; longitude = -118.639620; captureRadius = 10; duration = 259; # abortOnTimeout = True; initialDepth = 823.959490; finalDepth = 824.573839; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.422743 # Actual altitude: 21.422743 # Commanded vehicle depth: 824.573839 # Seafloor depth: -845.996582 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.69; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.57; MB_Bottom_Detect_Filter_Max_Range = 85.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 101.625700 meters # Minimum depth: 843.959490 meters looking forward 100.000000 meters along route # Maximum depth: 844.639312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 823.959490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795840; longitude = -118.640221; captureRadius = 10; duration = 254; initialDepth = 816.162239; finalDepth = 823.959490; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 21.422743 # Actual altitude: 21.422743 # Commanded vehicle depth: 823.95949 # Seafloor depth: -844.621760 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.69; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.57; MB_Bottom_Detect_Filter_Max_Range = 85.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 47 # Segment length 105.496266 meters # Minimum depth: 836.162239 meters looking forward 100.000000 meters along route # Maximum depth: 843.925944 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 816.162239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795066; longitude = -118.640808; captureRadius = 10; duration = 263; # abortOnTimeout = True; initialDepth = 811.847628; finalDepth = 816.162239; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.763705 # Actual altitude: 27.763705 # Commanded vehicle depth: 816.162239 # Seafloor depth: -843.925944 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 111.05; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.11; MB_Bottom_Detect_Filter_Max_Range = 111.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 111.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 101.514887 meters # Minimum depth: 831.847628 meters looking forward 100.000000 meters along route # Maximum depth: 835.974194 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 811.847628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795586; longitude = -118.641762; captureRadius = 10; duration = 253; initialDepth = 810.160892; finalDepth = 811.847628; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.763705 # Actual altitude: 27.763705 # Commanded vehicle depth: 811.847628 # Seafloor depth: -835.974194 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 111.05; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.11; MB_Bottom_Detect_Filter_Max_Range = 111.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 111.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 101.514508 meters # Minimum depth: 830.160892 meters looking forward 100.000000 meters along route # Maximum depth: 831.640031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 810.160892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796086; longitude = -118.642680; captureRadius = 10; duration = 253; initialDepth = 808.488005; finalDepth = 810.160892; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 24.126566 # Actual altitude: 24.126566 # Commanded vehicle depth: 810.160892 # Seafloor depth: -831.640031 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 96.51; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.65; MB_Bottom_Detect_Filter_Max_Range = 96.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 96.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 101.514129 meters # Minimum depth: 828.488005 meters looking forward 100.000000 meters along route # Maximum depth: 830.083427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 808.488005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796587; longitude = -118.643599; captureRadius = 10; duration = 253; initialDepth = 807.291184; finalDepth = 808.488005; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.595422 # Actual altitude: 21.595422 # Commanded vehicle depth: 808.488005 # Seafloor depth: -830.083427 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 86.38; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.64; MB_Bottom_Detect_Filter_Max_Range = 86.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 86.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 101.513749 meters # Minimum depth: 827.291184 meters looking forward 100.000000 meters along route # Maximum depth: 828.533563 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 807.291184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797087; longitude = -118.644517; captureRadius = 10; duration = 253; initialDepth = 804.455838; finalDepth = 807.291184; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.595422 # Actual altitude: 21.595422 # Commanded vehicle depth: 807.291184 # Seafloor depth: -828.533563 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 86.38; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.64; MB_Bottom_Detect_Filter_Max_Range = 86.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 86.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 101.513369 meters # Minimum depth: 824.455838 meters looking forward 100.000000 meters along route # Maximum depth: 827.284975 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.455838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797587; longitude = -118.645435; captureRadius = 10; duration = 253; initialDepth = 792.186633; finalDepth = 804.455838; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.8291370000001 # Actual altitude: 22.8291370000001 # Commanded vehicle depth: 804.455838 # Seafloor depth: -827.284975 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 91.32; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.13; MB_Bottom_Detect_Filter_Max_Range = 91.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 91.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 102.999526 meters # Minimum depth: 812.186633 meters looking forward 100.000000 meters along route # Maximum depth: 824.140286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 792.186633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798087; longitude = -118.646353; captureRadius = 10; duration = 257; initialDepth = 792.330793; finalDepth = 792.186633; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 31.9536529999999 # Actual altitude: 31.9536529999999 # Commanded vehicle depth: 792.186633 # Seafloor depth: -824.140286 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 127.81; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.78; MB_Bottom_Detect_Filter_Max_Range = 127.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 127.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 100.026073 meters # Minimum depth: 812.330793 meters looking forward 100.000000 meters along route # Maximum depth: 822.440036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 792.330793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798595; longitude = -118.647285; captureRadius = 10; duration = 250; initialDepth = 801.359947; finalDepth = 792.330793; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 31.9536529999999 # Actual altitude: 31.9536529999999 # Commanded vehicle depth: 792.330793 # Seafloor depth: -812.330793 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 127.81; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.78; MB_Bottom_Detect_Filter_Max_Range = 127.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 127.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 101.512231 meters # Minimum depth: 821.359947 meters looking forward 100.000000 meters along route # Maximum depth: 823.392727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 801.359947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799088; longitude = -118.648189; captureRadius = 10; duration = 253; initialDepth = 797.581660; finalDepth = 801.359947; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.119147 # Actual altitude: 21.119147 # Commanded vehicle depth: 801.359947 # Seafloor depth: -822.479094 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.48; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.45; MB_Bottom_Detect_Filter_Max_Range = 84.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 101.511851 meters # Minimum depth: 817.581660 meters looking forward 100.000000 meters along route # Maximum depth: 821.278083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.581660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799588; longitude = -118.649107; captureRadius = 10; duration = 253; initialDepth = 796.028418; finalDepth = 797.581660; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 23.696423 # Actual altitude: 23.696423 # Commanded vehicle depth: 797.58166 # Seafloor depth: -821.278083 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 94.79; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.48; MB_Bottom_Detect_Filter_Max_Range = 94.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 94.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 102.468887 meters # Minimum depth: 816.028418 meters looking forward 100.000000 meters along route # Maximum depth: 817.337120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.028418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800088; longitude = -118.650026; captureRadius = 10; duration = 256; initialDepth = 796.297640; finalDepth = 796.028418; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 23.696423 # Actual altitude: 23.696423 # Commanded vehicle depth: 796.028418 # Seafloor depth: -817.337120 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 94.79; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.48; MB_Bottom_Detect_Filter_Max_Range = 94.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 94.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 100.553676 meters # Minimum depth: 816.297640 meters looking forward 100.000000 meters along route # Maximum depth: 816.570777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.297640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800593; longitude = -118.650952; captureRadius = 10; duration = 251; initialDepth = 796.511518; finalDepth = 796.297640; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.308702 # Actual altitude: 21.308702 # Commanded vehicle depth: 796.29764 # Seafloor depth: -816.297640 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.23; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.52; MB_Bottom_Detect_Filter_Max_Range = 85.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 101.510712 meters # Minimum depth: 816.511518 meters looking forward 100.000000 meters along route # Maximum depth: 818.445474 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.511518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801089; longitude = -118.651862; captureRadius = 10; duration = 253; initialDepth = 798.565663; finalDepth = 796.511518; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 796.511518 # Seafloor depth: -816.511518 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 47 # Segment length 101.510333 meters # Minimum depth: 818.565663 meters looking forward 100.000000 meters along route # Maximum depth: 820.636669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 798.565663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801589; longitude = -118.652780; captureRadius = 10; duration = 253; initialDepth = 800.740101; finalDepth = 798.565663; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 798.565663 # Seafloor depth: -818.565663 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 47 # Segment length 101.938264 meters # Minimum depth: 820.740101 meters looking forward 100.000000 meters along route # Maximum depth: 822.076761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 800.740101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802089; longitude = -118.653698; captureRadius = 10; duration = 254; initialDepth = 801.878812; finalDepth = 800.740101; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 800.740101 # Seafloor depth: -820.740101 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 47 # Segment length 101.081263 meters # Minimum depth: 821.878812 meters looking forward 100.000000 meters along route # Maximum depth: 823.165485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 801.878812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802591; longitude = -118.654620; captureRadius = 10; duration = 252; initialDepth = 803.230732; finalDepth = 801.878812; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.2024299999999 # Actual altitude: 20.2024299999999 # Commanded vehicle depth: 801.878812 # Seafloor depth: -822.081242 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.81; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.08; MB_Bottom_Detect_Filter_Max_Range = 80.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 103.499567 meters # Minimum depth: 823.230732 meters looking forward 100.000000 meters along route # Maximum depth: 832.498596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 803.230732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803090; longitude = -118.655534; captureRadius = 10; duration = 258; initialDepth = 802.460823; finalDepth = 803.230732; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 20.2024299999999 # Actual altitude: 20.2024299999999 # Commanded vehicle depth: 803.230732 # Seafloor depth: -823.230732 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.81; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.08; MB_Bottom_Detect_Filter_Max_Range = 80.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 46 # Segment length 94.120780 meters # Minimum depth: 822.460823 meters looking forward 100.000000 meters along route # Maximum depth: 832.690918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 802.460823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803600; longitude = -118.656470; captureRadius = 10; duration = 235; # abortOnTimeout = True; initialDepth = 802.152913; finalDepth = 802.460823; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 30.230095 # Actual altitude: 30.230095 # Commanded vehicle depth: 802.460823 # Seafloor depth: -832.690918 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 120.92; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.09; MB_Bottom_Detect_Filter_Max_Range = 120.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 120.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 101.179581 meters # Minimum depth: 822.152913 meters looking forward 100.000000 meters along route # Maximum depth: 826.023300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 802.152913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804320; longitude = -118.655933; captureRadius = 10; duration = 252; initialDepth = 805.008679; finalDepth = 802.152913; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 30.230095 # Actual altitude: 30.230095 # Commanded vehicle depth: 802.152913 # Seafloor depth: -822.329621 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 120.92; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.09; MB_Bottom_Detect_Filter_Max_Range = 120.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 120.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 45 # Segment length 87.849880 meters # Minimum depth: 825.008679 meters looking forward 100.000000 meters along route # Maximum depth: 826.203451 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 805.008679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805094; longitude = -118.655354; captureRadius = 10; duration = 219; # abortOnTimeout = True; initialDepth = 803.818934; finalDepth = 805.008679; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.1947719999999 # Actual altitude: 21.1947719999999 # Commanded vehicle depth: 805.008679 # Seafloor depth: -826.203451 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.78; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.48; MB_Bottom_Detect_Filter_Max_Range = 84.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 101.826354 meters # Minimum depth: 823.818934 meters looking forward 100.000000 meters along route # Maximum depth: 824.860250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 803.818934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804658; longitude = -118.654562; captureRadius = 10; duration = 254; initialDepth = 802.661438; finalDepth = 803.818934; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.1947719999999 # Actual altitude: 21.1947719999999 # Commanded vehicle depth: 803.818934 # Seafloor depth: -824.860250 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.78; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.48; MB_Bottom_Detect_Filter_Max_Range = 84.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 101.826736 meters # Minimum depth: 822.661438 meters looking forward 100.000000 meters along route # Maximum depth: 823.818859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 802.661438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804152; longitude = -118.653644; captureRadius = 10; duration = 254; initialDepth = 801.301035; finalDepth = 802.661438; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.157421 # Actual altitude: 21.157421 # Commanded vehicle depth: 802.661438 # Seafloor depth: -823.818859 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.63; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.46; MB_Bottom_Detect_Filter_Max_Range = 84.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 101.827118 meters # Minimum depth: 821.301035 meters looking forward 100.000000 meters along route # Maximum depth: 822.583683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 801.301035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803647; longitude = -118.652726; captureRadius = 10; duration = 254; initialDepth = 799.831935; finalDepth = 801.301035; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.282648 # Actual altitude: 21.282648 # Commanded vehicle depth: 801.301035 # Seafloor depth: -822.583683 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.13; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.51; MB_Bottom_Detect_Filter_Max_Range = 85.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 101.827501 meters # Minimum depth: 819.831935 meters looking forward 100.000000 meters along route # Maximum depth: 821.212320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.831935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803141; longitude = -118.651808; captureRadius = 10; duration = 254; initialDepth = 798.534861; finalDepth = 799.831935; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.3803849999999 # Actual altitude: 21.3803849999999 # Commanded vehicle depth: 799.831935 # Seafloor depth: -821.212320 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.52; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.55; MB_Bottom_Detect_Filter_Max_Range = 85.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 101.827883 meters # Minimum depth: 818.534861 meters looking forward 100.000000 meters along route # Maximum depth: 819.798454 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 798.534861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802636; longitude = -118.650890; captureRadius = 10; duration = 254; initialDepth = 797.631108; finalDepth = 798.534861; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.3803849999999 # Actual altitude: 21.3803849999999 # Commanded vehicle depth: 798.534861 # Seafloor depth: -819.798454 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.52; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.55; MB_Bottom_Detect_Filter_Max_Range = 85.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 102.978227 meters # Minimum depth: 817.631108 meters looking forward 100.000000 meters along route # Maximum depth: 818.475438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.631108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802130; longitude = -118.649972; captureRadius = 10; duration = 257; initialDepth = 796.892631; finalDepth = 797.631108; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.263593 # Actual altitude: 21.263593 # Commanded vehicle depth: 797.631108 # Seafloor depth: -818.464546 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.05; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.51; MB_Bottom_Detect_Filter_Max_Range = 85.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 100.678687 meters # Minimum depth: 816.892631 meters looking forward 100.000000 meters along route # Maximum depth: 817.620525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.892631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801619; longitude = -118.649043; captureRadius = 10; duration = 251; initialDepth = 796.432812; finalDepth = 796.892631; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.833438 # Actual altitude: 20.833438 # Commanded vehicle depth: 796.892631 # Seafloor depth: -817.620525 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 83.33; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.33; MB_Bottom_Detect_Filter_Max_Range = 83.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 83.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 101.829030 meters # Minimum depth: 816.432812 meters looking forward 100.000000 meters along route # Maximum depth: 817.135636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.432812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801120; longitude = -118.648135; captureRadius = 10; duration = 254; initialDepth = 795.592071; finalDepth = 796.432812; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.727894 # Actual altitude: 20.727894 # Commanded vehicle depth: 796.432812 # Seafloor depth: -817.116465 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 82.91; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.29; MB_Bottom_Detect_Filter_Max_Range = 82.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 82.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 102.145340 meters # Minimum depth: 815.592071 meters looking forward 100.000000 meters along route # Maximum depth: 816.698217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.592071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800614; longitude = -118.647217; captureRadius = 10; duration = 255; initialDepth = 796.643514; finalDepth = 795.592071; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.690169 # Actual altitude: 20.690169 # Commanded vehicle depth: 795.592071 # Seafloor depth: -816.282240 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 82.76; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.28; MB_Bottom_Detect_Filter_Max_Range = 82.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 82.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 101.513868 meters # Minimum depth: 816.643514 meters looking forward 100.000000 meters along route # Maximum depth: 819.325020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.643514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800107; longitude = -118.646296; captureRadius = 10; duration = 253; initialDepth = 799.436643; finalDepth = 796.643514; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.690169 # Actual altitude: 20.690169 # Commanded vehicle depth: 796.643514 # Seafloor depth: -816.699515 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 82.76; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.28; MB_Bottom_Detect_Filter_Max_Range = 82.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 82.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 101.830178 meters # Minimum depth: 819.436643 meters looking forward 100.000000 meters along route # Maximum depth: 821.808586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.436643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799603; longitude = -118.645381; captureRadius = 10; duration = 254; initialDepth = 801.945318; finalDepth = 799.436643; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.056001 # Actual altitude: 20.056001 # Commanded vehicle depth: 799.436643 # Seafloor depth: -819.436643 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.22; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.02; MB_Bottom_Detect_Filter_Max_Range = 80.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 101.830561 meters # Minimum depth: 821.945318 meters looking forward 100.000000 meters along route # Maximum depth: 824.364535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 801.945318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799098; longitude = -118.644463; captureRadius = 10; duration = 254; initialDepth = 804.379243; finalDepth = 801.945318; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 801.945318 # Seafloor depth: -821.945318 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 45 # Segment length 101.830943 meters # Minimum depth: 824.379243 meters looking forward 100.000000 meters along route # Maximum depth: 828.086428 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.379243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798592; longitude = -118.643545; captureRadius = 10; duration = 254; initialDepth = 808.270581; finalDepth = 804.379243; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 804.379243 # Seafloor depth: -824.379243 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 45 # Segment length 101.831325 meters # Minimum depth: 828.270581 meters looking forward 100.000000 meters along route # Maximum depth: 832.613105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 808.270581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798087; longitude = -118.642626; captureRadius = 10; duration = 254; initialDepth = 812.896233; finalDepth = 808.270581; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 808.270581 # Seafloor depth: -828.270581 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 45 # Segment length 101.831708 meters # Minimum depth: 832.896233 meters looking forward 100.000000 meters along route # Maximum depth: 839.072033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 812.896233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797581; longitude = -118.641708; captureRadius = 10; duration = 254; initialDepth = 819.159827; finalDepth = 812.896233; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 812.896233 # Seafloor depth: -832.896233 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 45 # Segment length 103.828802 meters # Minimum depth: 839.159827 meters looking forward 100.000000 meters along route # Maximum depth: 845.042540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 819.159827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797076; longitude = -118.640790; captureRadius = 10; duration = 259; initialDepth = 822.298493; finalDepth = 819.159827; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 819.159827 # Seafloor depth: -839.159827 # behavior reson { duration = RESON_DURATION; 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 = 55; 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 44 # Segment length 169.733915 meters # Minimum depth: 842.298493 meters looking forward 100.000000 meters along route # Maximum depth: 845.116699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 822.298493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796561; longitude = -118.639854; captureRadius = 10; duration = 424; # abortOnTimeout = True; initialDepth = 816.971842; finalDepth = 822.298493; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 22.818206 # Actual altitude: 22.818206 # Commanded vehicle depth: 822.298493 # Seafloor depth: -845.116699 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 91.27; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.13; MB_Bottom_Detect_Filter_Max_Range = 91.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 91.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 43 # Segment length 75.524032 meters # Minimum depth: 836.971842 meters looking forward 100.000000 meters along route # Maximum depth: 842.855966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 816.971842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795282; longitude = -118.640862; captureRadius = 10; duration = 188; # abortOnTimeout = True; initialDepth = 811.969157; finalDepth = 816.971842; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.301107 # Actual altitude: 25.301107 # Commanded vehicle depth: 816.971842 # Seafloor depth: -842.272949 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 101.20; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.12; MB_Bottom_Detect_Filter_Max_Range = 101.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 101.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 101.360871 meters # Minimum depth: 831.969157 meters looking forward 100.000000 meters along route # Maximum depth: 836.617702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 811.969157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795653; longitude = -118.641546; captureRadius = 10; duration = 253; initialDepth = 809.537035; finalDepth = 811.969157; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.301107 # Actual altitude: 25.301107 # Commanded vehicle depth: 811.969157 # Seafloor depth: -836.617702 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 101.20; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.12; MB_Bottom_Detect_Filter_Max_Range = 101.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 101.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 101.771690 meters # Minimum depth: 829.537035 meters looking forward 100.000000 meters along route # Maximum depth: 831.761063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.537035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796151; longitude = -118.642464; captureRadius = 10; duration = 254; initialDepth = 807.619533; finalDepth = 809.537035; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 24.648545 # Actual altitude: 24.648545 # Commanded vehicle depth: 809.537035 # Seafloor depth: -831.761063 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 98.59; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.86; MB_Bottom_Detect_Filter_Max_Range = 98.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 98.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 100.948917 meters # Minimum depth: 827.619533 meters looking forward 100.000000 meters along route # Maximum depth: 829.530570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 807.619533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796651; longitude = -118.643386; captureRadius = 10; duration = 252; initialDepth = 806.351714; finalDepth = 807.619533; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.2240280000001 # Actual altitude: 22.2240280000001 # Commanded vehicle depth: 807.619533 # Seafloor depth: -829.530570 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 88.90; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.89; MB_Bottom_Detect_Filter_Max_Range = 88.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 88.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 101.359736 meters # Minimum depth: 826.351714 meters looking forward 100.000000 meters along route # Maximum depth: 827.545167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 806.351714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797146; longitude = -118.644301; captureRadius = 10; duration = 253; initialDepth = 803.315037; finalDepth = 806.351714; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.911037 # Actual altitude: 21.911037 # Commanded vehicle depth: 806.351714 # Seafloor depth: -827.545167 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 87.64; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.76; MB_Bottom_Detect_Filter_Max_Range = 87.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 87.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 101.359358 meters # Minimum depth: 823.315037 meters looking forward 100.000000 meters along route # Maximum depth: 826.150843 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 803.315037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797644; longitude = -118.645219; captureRadius = 10; duration = 253; initialDepth = 789.880384; finalDepth = 803.315037; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.835806 # Actual altitude: 22.835806 # Commanded vehicle depth: 803.315037 # Seafloor depth: -826.150843 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 91.34; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.13; MB_Bottom_Detect_Filter_Max_Range = 91.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 91.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 101.358980 meters # Minimum depth: 809.880384 meters looking forward 100.000000 meters along route # Maximum depth: 823.212098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 789.880384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798142; longitude = -118.646137; captureRadius = 10; duration = 253; initialDepth = 789.362546; finalDepth = 789.880384; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 33.3317139999999 # Actual altitude: 33.3317139999999 # Commanded vehicle depth: 789.880384 # Seafloor depth: -823.212098 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 133.33; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.33; MB_Bottom_Detect_Filter_Max_Range = 133.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 133.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 101.358601 meters # Minimum depth: 809.362546 meters looking forward 100.000000 meters along route # Maximum depth: 819.771754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 789.362546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798639; longitude = -118.647055; captureRadius = 10; duration = 253; initialDepth = 799.716145; finalDepth = 789.362546; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 33.3317139999999 # Actual altitude: 33.3317139999999 # Commanded vehicle depth: 789.362546 # Seafloor depth: -809.451313 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 133.33; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.33; MB_Bottom_Detect_Filter_Max_Range = 133.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 133.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 101.358224 meters # Minimum depth: 819.716145 meters looking forward 100.000000 meters along route # Maximum depth: 821.884076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.716145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799137; longitude = -118.647973; captureRadius = 10; duration = 253; initialDepth = 797.075924; finalDepth = 799.716145; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.089106 # Actual altitude: 20.089106 # Commanded vehicle depth: 799.716145 # Seafloor depth: -819.805251 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.36; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.04; MB_Bottom_Detect_Filter_Max_Range = 80.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 101.357845 meters # Minimum depth: 817.075924 meters looking forward 100.000000 meters along route # Maximum depth: 820.039545 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.075924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799635; longitude = -118.648891; captureRadius = 10; duration = 253; initialDepth = 795.364816; finalDepth = 797.075924; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.963621 # Actual altitude: 22.963621 # Commanded vehicle depth: 797.075924 # Seafloor depth: -820.039545 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 91.85; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.19; MB_Bottom_Detect_Filter_Max_Range = 91.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 91.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 101.357467 meters # Minimum depth: 815.364816 meters looking forward 100.000000 meters along route # Maximum depth: 816.862296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.364816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800132; longitude = -118.649809; captureRadius = 10; duration = 253; initialDepth = 795.315554; finalDepth = 795.364816; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.963621 # Actual altitude: 22.963621 # Commanded vehicle depth: 795.364816 # Seafloor depth: -816.862296 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 91.85; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.19; MB_Bottom_Detect_Filter_Max_Range = 91.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 91.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 102.487846 meters # Minimum depth: 815.315554 meters looking forward 100.000000 meters along route # Maximum depth: 815.786800 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.315554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800630; longitude = -118.650728; captureRadius = 10; duration = 256; initialDepth = 795.785323; finalDepth = 795.315554; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.49748 # Actual altitude: 21.49748 # Commanded vehicle depth: 795.315554 # Seafloor depth: -815.315554 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.99; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.60; MB_Bottom_Detect_Filter_Max_Range = 85.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 100.225954 meters # Minimum depth: 815.785323 meters looking forward 100.000000 meters along route # Maximum depth: 817.609190 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.785323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801133; longitude = -118.651656; captureRadius = 10; duration = 250; initialDepth = 797.643543; finalDepth = 795.785323; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 795.785323 # Seafloor depth: -815.785323 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 43 # Segment length 101.356333 meters # Minimum depth: 817.643543 meters looking forward 100.000000 meters along route # Maximum depth: 819.341180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.643543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801625; longitude = -118.652564; captureRadius = 10; duration = 253; initialDepth = 799.426636; finalDepth = 797.643543; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 797.643543 # Seafloor depth: -817.643543 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 43 # Segment length 101.355955 meters # Minimum depth: 819.426636 meters looking forward 100.000000 meters along route # Maximum depth: 820.920898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.426636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802123; longitude = -118.653482; captureRadius = 10; duration = 253; initialDepth = 800.705013; finalDepth = 799.426636; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 799.426636 # Seafloor depth: -819.426636 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 43 # Segment length 104.028233 meters # Minimum depth: 820.705013 meters looking forward 100.000000 meters along route # Maximum depth: 821.073115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 800.705013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802621; longitude = -118.654400; captureRadius = 10; duration = 260; initialDepth = 801.070174; finalDepth = 800.705013; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.2771729999999 # Actual altitude: 20.2771729999999 # Commanded vehicle depth: 800.705013 # Seafloor depth: -820.982186 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 81.11; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.11; MB_Bottom_Detect_Filter_Max_Range = 81.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 81.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 102.657248 meters # Minimum depth: 821.070174 meters looking forward 100.000000 meters along route # Maximum depth: 828.606596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 801.070174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803131; longitude = -118.655343; captureRadius = 10; duration = 256; initialDepth = 801.764964; finalDepth = 801.070174; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 20.2771729999999 # Actual altitude: 20.2771729999999 # Commanded vehicle depth: 801.070174 # Seafloor depth: -821.070174 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 81.11; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.11; MB_Bottom_Detect_Filter_Max_Range = 81.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 81.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 161.881812 meters # Minimum depth: 821.764964 meters looking forward 100.000000 meters along route # Maximum depth: 829.031169 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 801.764964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803636; longitude = -118.656272; captureRadius = 10; duration = 404; # abortOnTimeout = True; initialDepth = 802.673310; finalDepth = 801.764964; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 27.266205 # Actual altitude: 27.266205 # Commanded vehicle depth: 801.764964 # Seafloor depth: -829.031169 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 109.06; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.91; MB_Bottom_Detect_Filter_Max_Range = 109.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 109.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 165.460574 meters # Minimum depth: 822.673310 meters looking forward 100.000000 meters along route # Maximum depth: 824.535319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 802.673310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804878; longitude = -118.655354; captureRadius = 10; duration = 413; # abortOnTimeout = True; initialDepth = 801.653148; finalDepth = 802.673310; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.266205 # Actual altitude: 27.266205 # Commanded vehicle depth: 802.67331 # Seafloor depth: -824.535319 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 109.06; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.91; MB_Bottom_Detect_Filter_Max_Range = 109.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 109.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.669046 meters # Minimum depth: 821.653148 meters looking forward 100.000000 meters along route # Maximum depth: 822.682163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 801.653148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804059; longitude = -118.653860; captureRadius = 10; duration = 254; initialDepth = 800.370371; finalDepth = 801.653148; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.8620089999999 # Actual altitude: 21.8620089999999 # Commanded vehicle depth: 801.653148 # Seafloor depth: -822.682163 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 87.45; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.74; MB_Bottom_Detect_Filter_Max_Range = 87.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 87.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 101.669428 meters # Minimum depth: 820.370371 meters looking forward 100.000000 meters along route # Maximum depth: 821.631588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 800.370371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803556; longitude = -118.652942; captureRadius = 10; duration = 254; initialDepth = 799.172264; finalDepth = 800.370371; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.261217 # Actual altitude: 21.261217 # Commanded vehicle depth: 800.370371 # Seafloor depth: -821.631588 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.04; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.50; MB_Bottom_Detect_Filter_Max_Range = 85.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 101.669808 meters # Minimum depth: 819.172264 meters looking forward 100.000000 meters along route # Maximum depth: 820.317164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.172264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803054; longitude = -118.652024; captureRadius = 10; duration = 254; initialDepth = 797.685858; finalDepth = 799.172264; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.261217 # Actual altitude: 21.261217 # Commanded vehicle depth: 799.172264 # Seafloor depth: -820.317164 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.04; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.50; MB_Bottom_Detect_Filter_Max_Range = 85.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 101.670189 meters # Minimum depth: 817.685858 meters looking forward 100.000000 meters along route # Maximum depth: 819.030985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.685858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802551; longitude = -118.651106; captureRadius = 10; duration = 254; initialDepth = 796.981274; finalDepth = 797.685858; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.3451269999999 # Actual altitude: 21.3451269999999 # Commanded vehicle depth: 797.685858 # Seafloor depth: -819.030985 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.38; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.54; MB_Bottom_Detect_Filter_Max_Range = 85.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 101.670570 meters # Minimum depth: 816.981274 meters looking forward 100.000000 meters along route # Maximum depth: 817.717091 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.981274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802048; longitude = -118.650188; captureRadius = 10; duration = 254; initialDepth = 796.291253; finalDepth = 796.981274; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.3451269999999 # Actual altitude: 21.3451269999999 # Commanded vehicle depth: 796.981274 # Seafloor depth: -817.717091 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.38; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.54; MB_Bottom_Detect_Filter_Max_Range = 85.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 101.670951 meters # Minimum depth: 816.291253 meters looking forward 100.000000 meters along route # Maximum depth: 816.955039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.291253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801545; longitude = -118.649269; captureRadius = 10; duration = 254; initialDepth = 795.388164; finalDepth = 796.291253; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.735817 # Actual altitude: 20.735817 # Commanded vehicle depth: 796.291253 # Seafloor depth: -816.955039 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 82.94; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.29; MB_Bottom_Detect_Filter_Max_Range = 82.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 82.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 101.709917 meters # Minimum depth: 815.388164 meters looking forward 100.000000 meters along route # Maximum depth: 816.515068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.388164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801042; longitude = -118.648351; captureRadius = 10; duration = 254; initialDepth = 794.544694; finalDepth = 795.388164; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.1087620000001 # Actual altitude: 21.1087620000001 # Commanded vehicle depth: 795.388164 # Seafloor depth: -816.496926 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.44; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.44; MB_Bottom_Detect_Filter_Max_Range = 84.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 101.633129 meters # Minimum depth: 814.544694 meters looking forward 100.000000 meters along route # Maximum depth: 815.387155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.544694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800539; longitude = -118.647433; captureRadius = 10; duration = 254; initialDepth = 795.046125; finalDepth = 794.544694; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.1087620000001 # Actual altitude: 21.1087620000001 # Commanded vehicle depth: 794.544694 # Seafloor depth: -815.387155 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.44; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.44; MB_Bottom_Detect_Filter_Max_Range = 84.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 101.672094 meters # Minimum depth: 815.046125 meters looking forward 100.000000 meters along route # Maximum depth: 817.766996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.046125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800036; longitude = -118.646515; captureRadius = 10; duration = 254; initialDepth = 797.976490; finalDepth = 795.046125; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.842461 # Actual altitude: 20.842461 # Commanded vehicle depth: 795.046125 # Seafloor depth: -815.164566 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 83.37; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.34; MB_Bottom_Detect_Filter_Max_Range = 83.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 83.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 102.444184 meters # Minimum depth: 817.976490 meters looking forward 100.000000 meters along route # Maximum depth: 821.415017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.976490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799534; longitude = -118.645597; captureRadius = 10; duration = 256; initialDepth = 801.425295; finalDepth = 797.976490; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.1184410000001 # Actual altitude: 20.1184410000001 # Commanded vehicle depth: 797.97649 # Seafloor depth: -817.976490 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.47; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.05; MB_Bottom_Detect_Filter_Max_Range = 80.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 100.901148 meters # Minimum depth: 821.425295 meters looking forward 100.000000 meters along route # Maximum depth: 823.636662 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 801.425295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799027; longitude = -118.644672; captureRadius = 10; duration = 252; initialDepth = 803.706591; finalDepth = 801.425295; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 801.425295 # Seafloor depth: -821.425295 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 41 # Segment length 101.673237 meters # Minimum depth: 823.706591 meters looking forward 100.000000 meters along route # Maximum depth: 826.961181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 803.706591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798528; longitude = -118.643761; captureRadius = 10; duration = 254; initialDepth = 807.210957; finalDepth = 803.706591; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 803.706591 # Seafloor depth: -823.706591 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 41 # Segment length 103.178468 meters # Minimum depth: 827.210957 meters looking forward 100.000000 meters along route # Maximum depth: 831.635232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 807.210957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798025; longitude = -118.642842; captureRadius = 10; duration = 257; initialDepth = 811.718373; finalDepth = 807.210957; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 807.210957 # Seafloor depth: -827.210957 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 41 # Segment length 100.169151 meters # Minimum depth: 831.718373 meters looking forward 100.000000 meters along route # Maximum depth: 837.331445 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 811.718373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797515; longitude = -118.641911; captureRadius = 10; duration = 250; initialDepth = 817.440702; finalDepth = 811.718373; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 811.718373 # Seafloor depth: -831.718373 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 41 # Segment length 103.668000 meters # Minimum depth: 837.440702 meters looking forward 100.000000 meters along route # Maximum depth: 844.051865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 817.440702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797019; longitude = -118.641006; captureRadius = 10; duration = 259; initialDepth = 820.955865; finalDepth = 817.440702; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 817.440702 # Seafloor depth: -837.440702 # behavior reson { duration = RESON_DURATION; 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 = 55; 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 40 # Segment length 139.118778 meters # Minimum depth: 840.955865 meters looking forward 100.000000 meters along route # Maximum depth: 844.178060 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 820.955865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796506; longitude = -118.640070; captureRadius = 10; duration = 347; # abortOnTimeout = True; initialDepth = 812.075726; finalDepth = 820.955865; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 23.2221949999999 # Actual altitude: 23.2221949999999 # Commanded vehicle depth: 820.955865 # Seafloor depth: -844.178060 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 92.89; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.29; MB_Bottom_Detect_Filter_Max_Range = 92.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 92.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 144.865742 meters # Minimum depth: 832.075726 meters looking forward 100.000000 meters along route # Maximum depth: 840.830566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 812.075726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795480; longitude = -118.640934; captureRadius = 10; duration = 362; # abortOnTimeout = True; initialDepth = 809.376264; finalDepth = 812.075726; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.7548399999999 # Actual altitude: 28.7548399999999 # Commanded vehicle depth: 812.075726 # Seafloor depth: -840.830566 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 115.02; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.50; MB_Bottom_Detect_Filter_Max_Range = 115.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 115.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.207115 meters # Minimum depth: 829.376264 meters looking forward 100.000000 meters along route # Maximum depth: 831.871161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.376264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796189; longitude = -118.642248; captureRadius = 10; duration = 253; initialDepth = 807.314179; finalDepth = 809.376264; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.7548399999999 # Actual altitude: 28.7548399999999 # Commanded vehicle depth: 809.376264 # Seafloor depth: -831.871161 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 115.02; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.50; MB_Bottom_Detect_Filter_Max_Range = 115.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 115.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 101.206738 meters # Minimum depth: 827.314179 meters looking forward 100.000000 meters along route # Maximum depth: 829.262650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 807.314179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796684; longitude = -118.643166; captureRadius = 10; duration = 253; initialDepth = 805.658052; finalDepth = 807.314179; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.494897 # Actual altitude: 22.494897 # Commanded vehicle depth: 807.314179 # Seafloor depth: -829.262650 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 89.98; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.00; MB_Bottom_Detect_Filter_Max_Range = 89.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 89.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 101.653188 meters # Minimum depth: 825.658052 meters looking forward 100.000000 meters along route # Maximum depth: 827.223923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 805.658052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797179; longitude = -118.644085; captureRadius = 10; duration = 254; initialDepth = 802.718054; finalDepth = 805.658052; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.948471 # Actual altitude: 21.948471 # Commanded vehicle depth: 805.658052 # Seafloor depth: -827.223923 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 87.79; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.78; MB_Bottom_Detect_Filter_Max_Range = 87.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 87.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 100.759159 meters # Minimum depth: 822.718054 meters looking forward 100.000000 meters along route # Maximum depth: 825.649491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 802.718054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797677; longitude = -118.645007; captureRadius = 10; duration = 251; initialDepth = 790.856844; finalDepth = 802.718054; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.931437 # Actual altitude: 22.931437 # Commanded vehicle depth: 802.718054 # Seafloor depth: -825.649491 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 91.73; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.17; MB_Bottom_Detect_Filter_Max_Range = 91.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 91.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 101.205607 meters # Minimum depth: 810.856844 meters looking forward 100.000000 meters along route # Maximum depth: 822.612626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 790.856844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798170; longitude = -118.645921; captureRadius = 10; duration = 253; initialDepth = 786.884912; finalDepth = 790.856844; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 31.755782 # Actual altitude: 31.755782 # Commanded vehicle depth: 790.856844 # Seafloor depth: -822.612626 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 127.02; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.70; MB_Bottom_Detect_Filter_Max_Range = 127.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 127.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 101.205232 meters # Minimum depth: 806.884912 meters looking forward 100.000000 meters along route # Maximum depth: 814.017956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 786.884912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798665; longitude = -118.646839; captureRadius = 10; duration = 253; initialDepth = 794.903597; finalDepth = 786.884912; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 31.755782 # Actual altitude: 31.755782 # Commanded vehicle depth: 786.884912 # Seafloor depth: -810.405868 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 127.02; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.70; MB_Bottom_Detect_Filter_Max_Range = 127.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 127.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 101.204854 meters # Minimum depth: 814.903597 meters looking forward 100.000000 meters along route # Maximum depth: 820.380213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.903597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799160; longitude = -118.647757; captureRadius = 10; duration = 253; initialDepth = 796.817773; finalDepth = 794.903597; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 23.5209560000001 # Actual altitude: 23.5209560000001 # Commanded vehicle depth: 794.903597 # Seafloor depth: -814.903597 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 94.08; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.41; MB_Bottom_Detect_Filter_Max_Range = 94.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 94.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 101.204477 meters # Minimum depth: 816.817773 meters looking forward 100.000000 meters along route # Maximum depth: 818.784205 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.817773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799655; longitude = -118.648675; captureRadius = 10; duration = 253; initialDepth = 794.954038; finalDepth = 796.817773; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.772369 # Actual altitude: 21.772369 # Commanded vehicle depth: 796.817773 # Seafloor depth: -818.590142 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 87.09; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.71; MB_Bottom_Detect_Filter_Max_Range = 87.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 87.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 101.572068 meters # Minimum depth: 814.954038 meters looking forward 100.000000 meters along route # Maximum depth: 816.649625 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.954038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800150; longitude = -118.649593; captureRadius = 10; duration = 253; initialDepth = 794.914445; finalDepth = 794.954038; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.772369 # Actual altitude: 21.772369 # Commanded vehicle depth: 794.954038 # Seafloor depth: -816.649625 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 87.09; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.71; MB_Bottom_Detect_Filter_Max_Range = 87.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 87.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 100.835757 meters # Minimum depth: 814.914445 meters looking forward 100.000000 meters along route # Maximum depth: 815.220070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.914445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800647; longitude = -118.650515; captureRadius = 10; duration = 252; initialDepth = 795.213247; finalDepth = 794.914445; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.695587 # Actual altitude: 21.695587 # Commanded vehicle depth: 794.914445 # Seafloor depth: -814.953229 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 86.78; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.68; MB_Bottom_Detect_Filter_Max_Range = 86.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 86.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 101.203348 meters # Minimum depth: 815.213247 meters looking forward 100.000000 meters along route # Maximum depth: 816.723630 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.213247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801140; longitude = -118.651430; captureRadius = 10; duration = 253; initialDepth = 796.809510; finalDepth = 795.213247; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.038784 # Actual altitude: 20.038784 # Commanded vehicle depth: 795.213247 # Seafloor depth: -815.213247 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.16; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.02; MB_Bottom_Detect_Filter_Max_Range = 80.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 101.202970 meters # Minimum depth: 816.809510 meters looking forward 100.000000 meters along route # Maximum depth: 818.459413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.809510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801636; longitude = -118.652348; captureRadius = 10; duration = 253; initialDepth = 798.544679; finalDepth = 796.809510; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 796.80951 # Seafloor depth: -816.809510 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 39 # Segment length 101.202594 meters # Minimum depth: 818.544679 meters looking forward 100.000000 meters along route # Maximum depth: 820.166495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 798.544679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802131; longitude = -118.653266; captureRadius = 10; duration = 253; initialDepth = 799.995072; finalDepth = 798.544679; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 798.544679 # Seafloor depth: -818.544679 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 39 # Segment length 103.344268 meters # Minimum depth: 819.995072 meters looking forward 100.000000 meters along route # Maximum depth: 820.360222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.995072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802626; longitude = -118.654184; captureRadius = 10; duration = 258; initialDepth = 800.023816; finalDepth = 799.995072; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.2215799999999 # Actual altitude: 20.2215799999999 # Commanded vehicle depth: 799.995072 # Seafloor depth: -820.216652 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.89; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.09; MB_Bottom_Detect_Filter_Max_Range = 80.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 103.028482 meters # Minimum depth: 820.023816 meters looking forward 100.000000 meters along route # Maximum depth: 824.874101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 800.023816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803131; longitude = -118.655122; captureRadius = 10; duration = 257; initialDepth = 801.250854; finalDepth = 800.023816; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 20.2215799999999 # Actual altitude: 20.2215799999999 # Commanded vehicle depth: 800.023816 # Seafloor depth: -820.023816 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.89; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.09; MB_Bottom_Detect_Filter_Max_Range = 80.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 133.624998 meters # Minimum depth: 821.250854 meters looking forward 100.000000 meters along route # Maximum depth: 825.375814 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 801.250854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803636; longitude = -118.656056; captureRadius = 10; duration = 334; # abortOnTimeout = True; initialDepth = 801.833328; finalDepth = 801.250854; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 24.12496 # Actual altitude: 24.12496 # Commanded vehicle depth: 801.250854 # Seafloor depth: -825.375814 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 96.50; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.65; MB_Bottom_Detect_Filter_Max_Range = 96.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 96.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 139.323267 meters # Minimum depth: 821.833328 meters looking forward 100.000000 meters along route # Maximum depth: 823.291992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 801.833328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804680; longitude = -118.655336; captureRadius = 10; duration = 348; # abortOnTimeout = True; initialDepth = 801.084430; finalDepth = 801.833328; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 24.12496 # Actual altitude: 24.12496 # Commanded vehicle depth: 801.833328 # Seafloor depth: -823.291992 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 96.50; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.65; MB_Bottom_Detect_Filter_Max_Range = 96.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 96.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.507402 meters # Minimum depth: 821.084430 meters looking forward 100.000000 meters along route # Maximum depth: 821.821934 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 801.084430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803993; longitude = -118.654076; captureRadius = 10; duration = 253; initialDepth = 799.691350; finalDepth = 801.084430; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.458664 # Actual altitude: 21.458664 # Commanded vehicle depth: 801.08443 # Seafloor depth: -821.821934 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.83; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.58; MB_Bottom_Detect_Filter_Max_Range = 85.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 101.507782 meters # Minimum depth: 819.691350 meters looking forward 100.000000 meters along route # Maximum depth: 821.055527 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.691350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803493; longitude = -118.653158; captureRadius = 10; duration = 253; initialDepth = 798.699739; finalDepth = 799.691350; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.3641769999999 # Actual altitude: 21.3641769999999 # Commanded vehicle depth: 799.69135 # Seafloor depth: -821.055527 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.46; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.55; MB_Bottom_Detect_Filter_Max_Range = 85.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 101.508161 meters # Minimum depth: 818.699739 meters looking forward 100.000000 meters along route # Maximum depth: 819.722170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 798.699739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802993; longitude = -118.652240; captureRadius = 10; duration = 253; initialDepth = 797.047700; finalDepth = 798.699739; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.3641769999999 # Actual altitude: 21.3641769999999 # Commanded vehicle depth: 798.699739 # Seafloor depth: -819.722170 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.46; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.55; MB_Bottom_Detect_Filter_Max_Range = 85.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 101.508541 meters # Minimum depth: 817.047700 meters looking forward 100.000000 meters along route # Maximum depth: 818.617203 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.047700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802493; longitude = -118.651322; captureRadius = 10; duration = 253; initialDepth = 796.576163; finalDepth = 797.047700; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.5695030000001 # Actual altitude: 21.5695030000001 # Commanded vehicle depth: 797.0477 # Seafloor depth: -818.617203 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 86.28; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.63; MB_Bottom_Detect_Filter_Max_Range = 86.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 86.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 101.508920 meters # Minimum depth: 816.576163 meters looking forward 100.000000 meters along route # Maximum depth: 817.120717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.576163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801992; longitude = -118.650404; captureRadius = 10; duration = 253; initialDepth = 795.629481; finalDepth = 796.576163; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.5695030000001 # Actual altitude: 21.5695030000001 # Commanded vehicle depth: 796.576163 # Seafloor depth: -817.120717 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 86.28; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.63; MB_Bottom_Detect_Filter_Max_Range = 86.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 86.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 101.509299 meters # Minimum depth: 815.629481 meters looking forward 100.000000 meters along route # Maximum depth: 816.547592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.629481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801492; longitude = -118.649485; captureRadius = 10; duration = 253; initialDepth = 794.844738; finalDepth = 795.629481; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.918111 # Actual altitude: 20.918111 # Commanded vehicle depth: 795.629481 # Seafloor depth: -816.547592 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 83.67; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.37; MB_Bottom_Detect_Filter_Max_Range = 83.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 83.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 102.858431 meters # Minimum depth: 814.844738 meters looking forward 100.000000 meters along route # Maximum depth: 816.023056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.844738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800992; longitude = -118.648567; captureRadius = 10; duration = 257; initialDepth = 793.389593; finalDepth = 794.844738; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.178318 # Actual altitude: 21.178318 # Commanded vehicle depth: 794.844738 # Seafloor depth: -816.023056 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.71; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.47; MB_Bottom_Detect_Filter_Max_Range = 84.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 100.161308 meters # Minimum depth: 813.389593 meters looking forward 100.000000 meters along route # Maximum depth: 814.796145 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 793.389593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800485; longitude = -118.647637; captureRadius = 10; duration = 250; initialDepth = 792.802337; finalDepth = 793.389593; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.406552 # Actual altitude: 21.406552 # Commanded vehicle depth: 793.389593 # Seafloor depth: -814.796145 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.63; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.56; MB_Bottom_Detect_Filter_Max_Range = 85.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 101.510438 meters # Minimum depth: 812.802337 meters looking forward 100.000000 meters along route # Maximum depth: 816.112032 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 792.802337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799992; longitude = -118.646731; captureRadius = 10; duration = 253; initialDepth = 796.293552; finalDepth = 792.802337; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.406552 # Actual altitude: 21.406552 # Commanded vehicle depth: 792.802337 # Seafloor depth: -813.602601 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.63; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.56; MB_Bottom_Detect_Filter_Max_Range = 85.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 101.510818 meters # Minimum depth: 816.293552 meters looking forward 100.000000 meters along route # Maximum depth: 820.803784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.293552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799491; longitude = -118.645813; captureRadius = 10; duration = 253; initialDepth = 800.980464; finalDepth = 796.293552; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.8002640000001 # Actual altitude: 20.8002640000001 # Commanded vehicle depth: 796.293552 # Seafloor depth: -816.293552 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 83.20; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.32; MB_Bottom_Detect_Filter_Max_Range = 83.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 83.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 102.349269 meters # Minimum depth: 820.980464 meters looking forward 100.000000 meters along route # Maximum depth: 823.142618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 800.980464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798991; longitude = -118.644895; captureRadius = 10; duration = 255; initialDepth = 803.158467; finalDepth = 800.980464; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 800.980464 # Seafloor depth: -820.980464 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 37 # Segment length 100.673506 meters # Minimum depth: 823.158467 meters looking forward 100.000000 meters along route # Maximum depth: 826.170205 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 803.158467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798487; longitude = -118.643969; captureRadius = 10; duration = 251; initialDepth = 806.248892; finalDepth = 803.158467; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 803.158467 # Seafloor depth: -823.158467 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 37 # Segment length 101.511957 meters # Minimum depth: 826.248892 meters looking forward 100.000000 meters along route # Maximum depth: 830.189631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 806.248892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797991; longitude = -118.643058; captureRadius = 10; duration = 253; initialDepth = 810.410430; finalDepth = 806.248892; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 806.248892 # Seafloor depth: -826.248892 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 37 # Segment length 104.707519 meters # Minimum depth: 830.410430 meters looking forward 100.000000 meters along route # Maximum depth: 836.198871 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 810.410430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797491; longitude = -118.642140; captureRadius = 10; duration = 261; initialDepth = 816.363400; finalDepth = 810.410430; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 810.41043 # Seafloor depth: -830.410430 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 37 # Segment length 102.298432 meters # Minimum depth: 836.363400 meters looking forward 100.000000 meters along route # Maximum depth: 843.027112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 816.363400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796975; longitude = -118.641193; captureRadius = 10; duration = 255; initialDepth = 820.082729; finalDepth = 816.363400; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 816.3634 # Seafloor depth: -836.363400 # behavior reson { duration = RESON_DURATION; 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 = 55; 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 36 # Segment length 113.495378 meters # Minimum depth: 840.082729 meters looking forward 100.000000 meters along route # Maximum depth: 843.219564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 820.082729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796470; longitude = -118.640268; captureRadius = 10; duration = 283; # abortOnTimeout = True; initialDepth = 812.246745; finalDepth = 820.082729; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 23.136835 # Actual altitude: 23.136835 # Commanded vehicle depth: 820.082729 # Seafloor depth: -843.219564 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 92.55; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.25; MB_Bottom_Detect_Filter_Max_Range = 92.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 92.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 120.973102 meters # Minimum depth: 832.246745 meters looking forward 100.000000 meters along route # Maximum depth: 839.900146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 812.246745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795642; longitude = -118.640988; captureRadius = 10; duration = 302; # abortOnTimeout = True; initialDepth = 809.234610; finalDepth = 812.246745; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.6534009999999 # Actual altitude: 27.6534009999999 # Commanded vehicle depth: 812.246745 # Seafloor depth: -839.900146 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 110.61; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.06; MB_Bottom_Detect_Filter_Max_Range = 110.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 110.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.141033 meters # Minimum depth: 829.234610 meters looking forward 100.000000 meters along route # Maximum depth: 832.112673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.234610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796233; longitude = -118.642086; captureRadius = 10; duration = 252; initialDepth = 806.988331; finalDepth = 809.234610; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.6534009999999 # Actual altitude: 27.6534009999999 # Commanded vehicle depth: 809.23461 # Seafloor depth: -832.112673 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 110.61; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.06; MB_Bottom_Detect_Filter_Max_Range = 110.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 110.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 101.140657 meters # Minimum depth: 826.988331 meters looking forward 100.000000 meters along route # Maximum depth: 829.119351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 806.988331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796727; longitude = -118.643004; captureRadius = 10; duration = 252; initialDepth = 805.268902; finalDepth = 806.988331; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.878063 # Actual altitude: 22.878063 # Commanded vehicle depth: 806.988331 # Seafloor depth: -829.119351 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 91.51; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.15; MB_Bottom_Detect_Filter_Max_Range = 91.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 91.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 101.140281 meters # Minimum depth: 825.268902 meters looking forward 100.000000 meters along route # Maximum depth: 826.818307 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 805.268902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797221; longitude = -118.643923; captureRadius = 10; duration = 252; initialDepth = 802.667893; finalDepth = 805.268902; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.13102 # Actual altitude: 22.13102 # Commanded vehicle depth: 805.268902 # Seafloor depth: -826.818307 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 88.52; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.85; MB_Bottom_Detect_Filter_Max_Range = 88.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 88.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 101.139904 meters # Minimum depth: 822.667893 meters looking forward 100.000000 meters along route # Maximum depth: 825.125343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 802.667893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797715; longitude = -118.644841; captureRadius = 10; duration = 252; initialDepth = 790.115611; finalDepth = 802.667893; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.45745 # Actual altitude: 22.45745 # Commanded vehicle depth: 802.667893 # Seafloor depth: -825.125343 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 89.83; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.98; MB_Bottom_Detect_Filter_Max_Range = 89.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 89.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 101.139529 meters # Minimum depth: 810.115611 meters looking forward 100.000000 meters along route # Maximum depth: 822.377310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 790.115611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798209; longitude = -118.645759; captureRadius = 10; duration = 252; initialDepth = 782.680325; finalDepth = 790.115611; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 32.261699 # Actual altitude: 32.261699 # Commanded vehicle depth: 790.115611 # Seafloor depth: -822.377310 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 129.05; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.90; MB_Bottom_Detect_Filter_Max_Range = 129.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 129.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 101.139152 meters # Minimum depth: 802.680325 meters looking forward 100.000000 meters along route # Maximum depth: 810.556807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 782.680325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798703; longitude = -118.646677; captureRadius = 10; duration = 252; initialDepth = 790.938438; finalDepth = 782.680325; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 32.261699 # Actual altitude: 32.261699 # Commanded vehicle depth: 782.680325 # Seafloor depth: -810.099502 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 129.05; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.90; MB_Bottom_Detect_Filter_Max_Range = 129.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 129.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 101.138776 meters # Minimum depth: 810.938438 meters looking forward 100.000000 meters along route # Maximum depth: 819.117735 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 790.938438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799198; longitude = -118.647595; captureRadius = 10; duration = 252; initialDepth = 796.385686; finalDepth = 790.938438; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.419177 # Actual altitude: 27.419177 # Commanded vehicle depth: 790.938438 # Seafloor depth: -810.938438 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 109.68; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.97; MB_Bottom_Detect_Filter_Max_Range = 109.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 109.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 101.138400 meters # Minimum depth: 816.385686 meters looking forward 100.000000 meters along route # Maximum depth: 817.776996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.385686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799692; longitude = -118.648513; captureRadius = 10; duration = 252; initialDepth = 794.808025; finalDepth = 796.385686; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.2164270000001 # Actual altitude: 21.2164270000001 # Commanded vehicle depth: 796.385686 # Seafloor depth: -817.602113 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.87; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.49; MB_Bottom_Detect_Filter_Max_Range = 84.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 101.138023 meters # Minimum depth: 814.808025 meters looking forward 100.000000 meters along route # Maximum depth: 816.276685 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.808025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800186; longitude = -118.649431; captureRadius = 10; duration = 252; initialDepth = 794.744066; finalDepth = 794.808025; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.46866 # Actual altitude: 21.46866 # Commanded vehicle depth: 794.808025 # Seafloor depth: -816.276685 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.87; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.59; MB_Bottom_Detect_Filter_Max_Range = 85.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 101.137648 meters # Minimum depth: 814.744066 meters looking forward 100.000000 meters along route # Maximum depth: 814.924216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.744066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800680; longitude = -118.650350; captureRadius = 10; duration = 252; initialDepth = 794.917617; finalDepth = 794.744066; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.46866 # Actual altitude: 21.46866 # Commanded vehicle depth: 794.744066 # Seafloor depth: -814.778758 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.87; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.59; MB_Bottom_Detect_Filter_Max_Range = 85.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 102.273643 meters # Minimum depth: 814.917617 meters looking forward 100.000000 meters along route # Maximum depth: 816.185649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.917617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801174; longitude = -118.651268; captureRadius = 10; duration = 255; initialDepth = 796.212335; finalDepth = 794.917617; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.0346920000001 # Actual altitude: 20.0346920000001 # Commanded vehicle depth: 794.917617 # Seafloor depth: -814.919719 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.14; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.01; MB_Bottom_Detect_Filter_Max_Range = 80.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 100.000524 meters # Minimum depth: 816.212335 meters looking forward 100.000000 meters along route # Maximum depth: 818.047250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.212335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801673; longitude = -118.652196; captureRadius = 10; duration = 250; initialDepth = 798.054667; finalDepth = 796.212335; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.002102 # Actual altitude: 20.002102 # Commanded vehicle depth: 796.212335 # Seafloor depth: -816.212335 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.01; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 101.136519 meters # Minimum depth: 818.054667 meters looking forward 100.000000 meters along route # Maximum depth: 819.704412 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 798.054667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802162; longitude = -118.653104; captureRadius = 10; duration = 252; initialDepth = 799.717583; finalDepth = 798.054667; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 798.054667 # Seafloor depth: -818.054667 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 35 # Segment length 101.136143 meters # Minimum depth: 819.717583 meters looking forward 100.000000 meters along route # Maximum depth: 819.929590 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.717583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802656; longitude = -118.654022; captureRadius = 10; duration = 252; initialDepth = 799.657526; finalDepth = 799.717583; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.013024 # Actual altitude: 20.013024 # Commanded vehicle depth: 799.717583 # Seafloor depth: -819.730607 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.05; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.01; MB_Bottom_Detect_Filter_Max_Range = 80.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 103.118818 meters # Minimum depth: 819.657526 meters looking forward 100.000000 meters along route # Maximum depth: 822.774136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.657526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803150; longitude = -118.654940; captureRadius = 10; duration = 257; initialDepth = 800.710693; finalDepth = 799.657526; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 20.0524380000001 # Actual altitude: 20.0524380000001 # Commanded vehicle depth: 799.657526 # Seafloor depth: -819.709964 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.21; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.02; MB_Bottom_Detect_Filter_Max_Range = 80.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 107.939872 meters # Minimum depth: 820.710693 meters looking forward 100.000000 meters along route # Maximum depth: 822.887777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 800.710693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803654; longitude = -118.655876; captureRadius = 10; duration = 269; # abortOnTimeout = True; initialDepth = 801.101078; finalDepth = 800.710693; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 22.177084 # Actual altitude: 22.177084 # Commanded vehicle depth: 800.710693 # Seafloor depth: -822.887777 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 88.71; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.87; MB_Bottom_Detect_Filter_Max_Range = 88.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 88.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 117.351293 meters # Minimum depth: 821.101078 meters looking forward 100.000000 meters along route # Maximum depth: 822.253011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 801.101078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804500; longitude = -118.655300; captureRadius = 10; duration = 293; # abortOnTimeout = True; initialDepth = 800.465912; finalDepth = 801.101078; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.177084 # Actual altitude: 22.177084 # Commanded vehicle depth: 801.101078 # Seafloor depth: -822.253011 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 88.71; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.87; MB_Bottom_Detect_Filter_Max_Range = 88.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 88.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.439663 meters # Minimum depth: 820.465912 meters looking forward 100.000000 meters along route # Maximum depth: 821.072362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 800.465912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803922; longitude = -118.654238; captureRadius = 10; duration = 253; initialDepth = 799.309046; finalDepth = 800.465912; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.151933 # Actual altitude: 21.151933 # Commanded vehicle depth: 800.465912 # Seafloor depth: -821.072362 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.61; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.46; MB_Bottom_Detect_Filter_Max_Range = 84.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 101.440041 meters # Minimum depth: 819.309046 meters looking forward 100.000000 meters along route # Maximum depth: 820.411114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.309046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803423; longitude = -118.653320; captureRadius = 10; duration = 253; initialDepth = 798.157019; finalDepth = 799.309046; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.102068 # Actual altitude: 21.102068 # Commanded vehicle depth: 799.309046 # Seafloor depth: -820.411114 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.41; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.44; MB_Bottom_Detect_Filter_Max_Range = 84.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 101.440420 meters # Minimum depth: 818.157019 meters looking forward 100.000000 meters along route # Maximum depth: 819.240764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 798.157019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802924; longitude = -118.652402; captureRadius = 10; duration = 253; initialDepth = 796.620379; finalDepth = 798.157019; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.102068 # Actual altitude: 21.102068 # Commanded vehicle depth: 798.157019 # Seafloor depth: -819.240764 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.41; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.44; MB_Bottom_Detect_Filter_Max_Range = 84.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 101.440799 meters # Minimum depth: 816.620379 meters looking forward 100.000000 meters along route # Maximum depth: 818.157676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.620379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802425; longitude = -118.651484; captureRadius = 10; duration = 253; initialDepth = 796.096774; finalDepth = 796.620379; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.5372970000001 # Actual altitude: 21.5372970000001 # Commanded vehicle depth: 796.620379 # Seafloor depth: -818.157676 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 86.15; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.61; MB_Bottom_Detect_Filter_Max_Range = 86.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 86.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 101.441178 meters # Minimum depth: 816.096774 meters looking forward 100.000000 meters along route # Maximum depth: 816.636427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.096774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801926; longitude = -118.650566; captureRadius = 10; duration = 253; initialDepth = 795.384967; finalDepth = 796.096774; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.5372970000001 # Actual altitude: 21.5372970000001 # Commanded vehicle depth: 796.096774 # Seafloor depth: -816.623556 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 86.15; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.61; MB_Bottom_Detect_Filter_Max_Range = 86.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 86.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 101.441557 meters # Minimum depth: 815.384967 meters looking forward 100.000000 meters along route # Maximum depth: 816.116264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.384967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801427; longitude = -118.649647; captureRadius = 10; duration = 253; initialDepth = 794.484564; finalDepth = 795.384967; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.731297 # Actual altitude: 20.731297 # Commanded vehicle depth: 795.384967 # Seafloor depth: -816.116264 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 82.93; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.29; MB_Bottom_Detect_Filter_Max_Range = 82.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 82.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 101.441936 meters # Minimum depth: 814.484564 meters looking forward 100.000000 meters along route # Maximum depth: 815.680593 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.484564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800928; longitude = -118.648729; captureRadius = 10; duration = 253; initialDepth = 791.805823; finalDepth = 794.484564; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.194287 # Actual altitude: 21.194287 # Commanded vehicle depth: 794.484564 # Seafloor depth: -815.678851 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.78; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.48; MB_Bottom_Detect_Filter_Max_Range = 84.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 101.442315 meters # Minimum depth: 811.805823 meters looking forward 100.000000 meters along route # Maximum depth: 814.475004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 791.805823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800429; longitude = -118.647811; captureRadius = 10; duration = 253; initialDepth = 789.248934; finalDepth = 791.805823; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.669181 # Actual altitude: 22.669181 # Commanded vehicle depth: 791.805823 # Seafloor depth: -814.475004 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 90.68; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.07; MB_Bottom_Detect_Filter_Max_Range = 90.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 90.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 101.442693 meters # Minimum depth: 809.248934 meters looking forward 100.000000 meters along route # Maximum depth: 814.141820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 789.248934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799930; longitude = -118.646893; captureRadius = 10; duration = 253; initialDepth = 794.782707; finalDepth = 789.248934; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.669181 # Actual altitude: 22.669181 # Commanded vehicle depth: 789.248934 # Seafloor depth: -811.579402 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 90.68; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.07; MB_Bottom_Detect_Filter_Max_Range = 90.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 90.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 101.443073 meters # Minimum depth: 814.782707 meters looking forward 100.000000 meters along route # Maximum depth: 820.251802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.782707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799431; longitude = -118.645975; captureRadius = 10; duration = 253; initialDepth = 800.494414; finalDepth = 794.782707; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.330468 # Actual altitude: 22.330468 # Commanded vehicle depth: 794.782707 # Seafloor depth: -814.782707 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 89.32; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.93; MB_Bottom_Detect_Filter_Max_Range = 89.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 89.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 101.443452 meters # Minimum depth: 820.494414 meters looking forward 100.000000 meters along route # Maximum depth: 822.997692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 800.494414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798931; longitude = -118.645057; captureRadius = 10; duration = 253; initialDepth = 802.999259; finalDepth = 800.494414; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 800.494414 # Seafloor depth: -820.494414 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 33 # Segment length 101.443831 meters # Minimum depth: 822.999259 meters looking forward 100.000000 meters along route # Maximum depth: 825.537196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 802.999259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798432; longitude = -118.644139; captureRadius = 10; duration = 253; initialDepth = 805.655797; finalDepth = 802.999259; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 802.999259 # Seafloor depth: -822.999259 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 33 # Segment length 101.444210 meters # Minimum depth: 825.655797 meters looking forward 100.000000 meters along route # Maximum depth: 829.396138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 805.655797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797933; longitude = -118.643221; captureRadius = 10; duration = 253; initialDepth = 809.639391; finalDepth = 805.655797; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 805.655797 # Seafloor depth: -825.655797 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 33 # Segment length 104.408323 meters # Minimum depth: 829.639391 meters looking forward 100.000000 meters along route # Maximum depth: 834.973459 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.639391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797434; longitude = -118.642302; captureRadius = 10; duration = 261; initialDepth = 815.199979; finalDepth = 809.639391; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 809.639391 # Seafloor depth: -829.639391 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 33 # Segment length 102.459475 meters # Minimum depth: 835.199979 meters looking forward 100.000000 meters along route # Maximum depth: 841.891007 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 815.199979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796921; longitude = -118.641357; captureRadius = 10; duration = 256; initialDepth = 819.283423; finalDepth = 815.199979; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 815.199979 # Seafloor depth: -835.199979 # behavior reson { duration = RESON_DURATION; 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 = 55; 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 32 # Segment length 58.337172 meters # Minimum depth: 839.283423 meters looking forward 100.000000 meters along route # Maximum depth: 842.172201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 819.283423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796416; longitude = -118.640430; captureRadius = 10; duration = 145; # abortOnTimeout = True; initialDepth = 815.748474; finalDepth = 819.283423; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 22.888778 # Actual altitude: 22.888778 # Commanded vehicle depth: 819.283423 # Seafloor depth: -842.172201 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 91.56; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.16; MB_Bottom_Detect_Filter_Max_Range = 91.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 91.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 77.359868 meters # Minimum depth: 835.748474 meters looking forward 100.000000 meters along route # Maximum depth: 842.012726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 815.748474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795912; longitude = -118.640610; captureRadius = 10; duration = 193; # abortOnTimeout = True; initialDepth = 810.550953; finalDepth = 815.748474; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.226705 # Actual altitude: 26.226705 # Commanded vehicle depth: 815.748474 # Seafloor depth: -841.975179 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 104.91; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.49; MB_Bottom_Detect_Filter_Max_Range = 104.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 104.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 101.412671 meters # Minimum depth: 830.550953 meters looking forward 100.000000 meters along route # Maximum depth: 835.716775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 810.550953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796164; longitude = -118.641389; captureRadius = 10; duration = 253; initialDepth = 808.792436; finalDepth = 810.550953; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.226705 # Actual altitude: 26.226705 # Commanded vehicle depth: 810.550953 # Seafloor depth: -835.716775 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 104.91; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.49; MB_Bottom_Detect_Filter_Max_Range = 104.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 104.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 101.899927 meters # Minimum depth: 828.792436 meters looking forward 100.000000 meters along route # Maximum depth: 830.479611 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 808.792436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796495; longitude = -118.642410; captureRadius = 10; duration = 254; initialDepth = 807.783429; finalDepth = 808.792436; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.1658219999999 # Actual altitude: 25.1658219999999 # Commanded vehicle depth: 808.792436 # Seafloor depth: -830.479611 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.66; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.07; MB_Bottom_Detect_Filter_Max_Range = 100.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 101.899621 meters # Minimum depth: 827.783429 meters looking forward 100.000000 meters along route # Maximum depth: 828.748339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 807.783429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796827; longitude = -118.643437; captureRadius = 10; duration = 254; initialDepth = 807.925139; finalDepth = 807.783429; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.687175 # Actual altitude: 21.687175 # Commanded vehicle depth: 807.783429 # Seafloor depth: -828.748339 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 86.75; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.67; MB_Bottom_Detect_Filter_Max_Range = 86.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 86.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.687021 meters # Minimum depth: 827.925139 meters looking forward 100.000000 meters along route # Maximum depth: 828.271955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 807.925139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797159; longitude = -118.644463; captureRadius = 10; duration = 259; initialDepth = 791.629234; finalDepth = 807.925139; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 20.96491 # Actual altitude: 20.96491 # Commanded vehicle depth: 807.925139 # Seafloor depth: -827.925139 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 83.86; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.39; MB_Bottom_Detect_Filter_Max_Range = 83.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 83.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 171.156986 meters # Minimum depth: 811.629234 meters looking forward 100.000000 meters along route # Maximum depth: 828.093669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 791.629234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797497; longitude = -118.645507; captureRadius = 10; duration = 427; # abortOnTimeout = True; initialDepth = 783.075616; finalDepth = 791.629234; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 36.464435 # Actual altitude: 36.464435 # Commanded vehicle depth: 791.629234 # Seafloor depth: -828.093669 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 145.86; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.59; MB_Bottom_Detect_Filter_Max_Range = 145.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 145.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 101.247338 meters # Minimum depth: 803.075616 meters looking forward 100.000000 meters along route # Maximum depth: 811.425379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 783.075616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798611; longitude = -118.646785; captureRadius = 10; duration = 253; initialDepth = 789.638196; finalDepth = 783.075616; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 36.464435 # Actual altitude: 36.464435 # Commanded vehicle depth: 783.075616 # Seafloor depth: -811.425379 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 145.86; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.59; MB_Bottom_Detect_Filter_Max_Range = 145.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 145.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 101.246999 meters # Minimum depth: 809.638196 meters looking forward 100.000000 meters along route # Maximum depth: 816.325085 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 789.638196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799271; longitude = -118.647541; captureRadius = 10; duration = 253; initialDepth = 794.939736; finalDepth = 789.638196; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.3497630000001 # Actual altitude: 28.3497630000001 # Commanded vehicle depth: 789.638196 # Seafloor depth: -809.638196 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 113.40; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.34; MB_Bottom_Detect_Filter_Max_Range = 113.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 113.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 101.727977 meters # Minimum depth: 814.939736 meters looking forward 100.000000 meters along route # Maximum depth: 815.382581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.939736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799930; longitude = -118.648297; captureRadius = 10; duration = 254; initialDepth = 794.844496; finalDepth = 794.939736; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.4428449999999 # Actual altitude: 20.4428449999999 # Commanded vehicle depth: 794.939736 # Seafloor depth: -815.382581 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 81.77; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.18; MB_Bottom_Detect_Filter_Max_Range = 81.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 81.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.765002 meters # Minimum depth: 814.844496 meters looking forward 100.000000 meters along route # Maximum depth: 815.352853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.844496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800593; longitude = -118.649057; captureRadius = 10; duration = 251; initialDepth = 795.364215; finalDepth = 794.844496; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.4428449999999 # Actual altitude: 20.4428449999999 # Commanded vehicle depth: 794.844496 # Seafloor depth: -814.936094 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 81.77; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.18; MB_Bottom_Detect_Filter_Max_Range = 81.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 81.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 103.710284 meters # Minimum depth: 815.364215 meters looking forward 100.000000 meters along route # Maximum depth: 816.567136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.364215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801249; longitude = -118.649809; captureRadius = 10; duration = 259; initialDepth = 794.810587; finalDepth = 795.364215; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 20.091598 # Actual altitude: 20.091598 # Commanded vehicle depth: 795.364215 # Seafloor depth: -815.364215 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.37; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.04; MB_Bottom_Detect_Filter_Max_Range = 80.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.37; 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 29 # Segment length 144.036338 meters # Minimum depth: 814.810587 meters looking forward 100.000000 meters along route # Maximum depth: 816.556549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.810587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801925; longitude = -118.650584; captureRadius = 10; duration = 360; # abortOnTimeout = True; initialDepth = 795.004883; finalDepth = 794.810587; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 21.745962 # Actual altitude: 21.745962 # Commanded vehicle depth: 794.810587 # Seafloor depth: -816.556549 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 86.98; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.70; MB_Bottom_Detect_Filter_Max_Range = 86.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 86.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 157.549613 meters # Minimum depth: 815.004883 meters looking forward 100.000000 meters along route # Maximum depth: 816.720535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.004883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800845; longitude = -118.651448; captureRadius = 10; duration = 393; # abortOnTimeout = True; initialDepth = 794.795448; finalDepth = 795.004883; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 21.745962 # Actual altitude: 21.745962 # Commanded vehicle depth: 795.004883 # Seafloor depth: -816.720535 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 86.98; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.70; MB_Bottom_Detect_Filter_Max_Range = 86.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 86.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 143.863686 meters # Minimum depth: 814.795448 meters looking forward 100.000000 meters along route # Maximum depth: 817.144117 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.795448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800413; longitude = -118.649827; captureRadius = 10; duration = 359; # abortOnTimeout = True; initialDepth = 794.790554; finalDepth = 794.795448; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 21.7156520000001 # Actual altitude: 21.7156520000001 # Commanded vehicle depth: 794.795448 # Seafloor depth: -815.253540 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 86.86; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.69; MB_Bottom_Detect_Filter_Max_Range = 86.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 86.86; 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 154.829953 meters # Minimum depth: 814.790554 meters looking forward 100.000000 meters along route # Maximum depth: 817.289490 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.790554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801529; longitude = -118.649035; captureRadius = 10; duration = 387; # abortOnTimeout = True; initialDepth = 793.842197; finalDepth = 794.790554; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 22.498936 # Actual altitude: 22.498936 # Commanded vehicle depth: 794.790554 # Seafloor depth: -817.289490 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 90.00; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.00; MB_Bottom_Detect_Filter_Max_Range = 90.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 90.00; 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 144.036916 meters # Minimum depth: 813.842197 meters looking forward 100.000000 meters along route # Maximum depth: 820.674657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 793.842197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800503; longitude = -118.647901; captureRadius = 10; duration = 360; # abortOnTimeout = True; initialDepth = 782.797686; finalDepth = 793.842197; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 22.498936 # Actual altitude: 22.498936 # Commanded vehicle depth: 793.842197 # Seafloor depth: -814.789383 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 90.00; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.00; MB_Bottom_Detect_Filter_Max_Range = 90.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 90.00; 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 164.102115 meters # Minimum depth: 802.797686 meters looking forward 100.000000 meters along route # Maximum depth: 821.070984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 782.797686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799423; longitude = -118.648765; captureRadius = 10; duration = 410; # abortOnTimeout = True; initialDepth = 781.092564; finalDepth = 782.797686; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 38.273298 # Actual altitude: 38.273298 # Commanded vehicle depth: 782.797686 # Seafloor depth: -821.070984 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 153.09; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.31; MB_Bottom_Detect_Filter_Max_Range = 153.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 102.762032 meters # Minimum depth: 801.092564 meters looking forward 100.000000 meters along route # Maximum depth: 809.598456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 781.092564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798937; longitude = -118.647091; captureRadius = 10; duration = 256; # abortOnTimeout = True; initialDepth = 789.600020; finalDepth = 781.092564; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 38.273298 # Actual altitude: 38.273298 # Commanded vehicle depth: 781.092564 # Seafloor depth: -802.837326 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 153.09; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.31; MB_Bottom_Detect_Filter_Max_Range = 153.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 102.759508 meters # Minimum depth: 809.600020 meters looking forward 100.000000 meters along route # Maximum depth: 819.719175 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 789.600020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799729; longitude = -118.646515; captureRadius = 10; duration = 256; initialDepth = 799.261184; finalDepth = 789.600020; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 21.7447619999999 # Actual altitude: 21.7447619999999 # Commanded vehicle depth: 789.60002 # Seafloor depth: -809.600020 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 86.98; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.70; MB_Bottom_Detect_Filter_Max_Range = 86.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 86.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 90.116178 meters # Minimum depth: 819.261184 meters looking forward 100.000000 meters along route # Maximum depth: 819.966075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.261184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800521; longitude = -118.645939; captureRadius = 10; duration = 225; # abortOnTimeout = True; initialDepth = 799.148002; finalDepth = 799.261184; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.6755380000001 # Actual altitude: 20.6755380000001 # Commanded vehicle depth: 799.261184 # Seafloor depth: -819.936722 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 82.70; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.27; MB_Bottom_Detect_Filter_Max_Range = 82.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 82.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.101245 meters # Minimum depth: 819.148002 meters looking forward 100.000000 meters along route # Maximum depth: 820.331965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.148002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799783; longitude = -118.645532; captureRadius = 10; duration = 252; initialDepth = 800.363514; finalDepth = 799.148002; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 20.6755380000001 # Actual altitude: 20.6755380000001 # Commanded vehicle depth: 799.148002 # Seafloor depth: -819.350702 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 82.70; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.27; MB_Bottom_Detect_Filter_Max_Range = 82.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 82.70; 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 131.323673 meters # Minimum depth: 820.363514 meters looking forward 100.000000 meters along route # Maximum depth: 824.635627 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 800.363514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798955; longitude = -118.645075; captureRadius = 10; duration = 328; # abortOnTimeout = True; initialDepth = 804.855362; finalDepth = 800.363514; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 20.2026999999999 # Actual altitude: 20.2026999999999 # Commanded vehicle depth: 800.363514 # Seafloor depth: -820.377548 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.81; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.08; MB_Bottom_Detect_Filter_Max_Range = 80.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 109.873883 meters # Minimum depth: 824.855362 meters looking forward 100.000000 meters along route # Maximum depth: 826.551359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.855362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797983; longitude = -118.645885; captureRadius = 10; duration = 274; # abortOnTimeout = True; initialDepth = 806.553594; finalDepth = 804.855362; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.014034 # Actual altitude: 20.014034 # Commanded vehicle depth: 804.855362 # Seafloor depth: -824.855362 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.06; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.01; MB_Bottom_Detect_Filter_Max_Range = 80.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.383992 meters # Minimum depth: 826.553594 meters looking forward 100.000000 meters along route # Maximum depth: 827.620529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 806.553594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797512; longitude = -118.644841; captureRadius = 10; duration = 250; initialDepth = 807.691529; finalDepth = 806.553594; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 806.553594 # Seafloor depth: -826.553594 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 100.892213 meters # Minimum depth: 827.691529 meters looking forward 100.000000 meters along route # Maximum depth: 829.408082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 807.691529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797083; longitude = -118.643887; captureRadius = 10; duration = 252; initialDepth = 809.463774; finalDepth = 807.691529; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 807.691529 # Seafloor depth: -827.691529 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 100.892569 meters # Minimum depth: 829.463774 meters looking forward 100.000000 meters along route # Maximum depth: 832.479577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.463774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796651; longitude = -118.642928; captureRadius = 10; duration = 252; initialDepth = 812.536151; finalDepth = 809.463774; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 809.463774 # Seafloor depth: -829.463774 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 101.298558 meters # Minimum depth: 832.536151 meters looking forward 100.000000 meters along route # Maximum depth: 839.355677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 812.536151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796218; longitude = -118.641969; captureRadius = 10; duration = 253; initialDepth = 819.391369; finalDepth = 812.536151; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 812.536151 # Seafloor depth: -832.536151 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 102.288401 meters # Minimum depth: 839.391369 meters looking forward 100.000000 meters along route # Maximum depth: 847.673541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 819.391369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795785; longitude = -118.641006; captureRadius = 10; duration = 255; initialDepth = 827.809733; finalDepth = 819.391369; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 819.391369 # Seafloor depth: -839.391369 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 102.288769 meters # Minimum depth: 847.809733 meters looking forward 100.000000 meters along route # Maximum depth: 854.652961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 827.809733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795347; longitude = -118.640034; captureRadius = 10; duration = 255; initialDepth = 834.806651; finalDepth = 827.809733; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 827.809733 # Seafloor depth: -847.809733 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 102.289137 meters # Minimum depth: 854.806651 meters looking forward 100.000000 meters along route # Maximum depth: 860.761803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 834.806651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794909; longitude = -118.639062; captureRadius = 10; duration = 255; initialDepth = 841.048987; finalDepth = 834.806651; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 834.806651 # Seafloor depth: -854.806651 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 102.289505 meters # Minimum depth: 861.048987 meters looking forward 100.000000 meters along route # Maximum depth: 863.825350 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 853.764942 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 841.048987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794471; longitude = -118.638090; captureRadius = 10; duration = 255; initialDepth = 843.752982; finalDepth = 841.048987; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 841.048987 # Seafloor depth: -861.048987 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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 102.863410 meters # Minimum depth: 863.752982 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 843.752982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794032; longitude = -118.637118; captureRadius = 10; duration = 257; initialDepth = 843.764942; finalDepth = 843.752982; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 20.085224 # Actual altitude: 20.085224 # Commanded vehicle depth: 843.752982 # Seafloor depth: -863.838206 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.34; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.03; MB_Bottom_Detect_Filter_Max_Range = 80.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 843.764942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.793592; longitude = -118.636140; captureRadius = 10; duration = 239; # abortOnTimeout = True; initialDepth = 841.245508; finalDepth = 843.764942; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.266216 # Actual altitude: 20.266216 # Commanded vehicle depth: 843.764942 # Seafloor depth: -864.031158 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 81.06; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.11; MB_Bottom_Detect_Filter_Max_Range = 81.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 81.06; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 841.245508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794058; longitude = -118.637012; captureRadius = 10; duration = 251; initialDepth = 835.004374; finalDepth = 841.245508; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.6051650000001 # Actual altitude: 22.6051650000001 # Commanded vehicle depth: 841.245508 # Seafloor depth: -863.850673 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 90.42; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.04; MB_Bottom_Detect_Filter_Max_Range = 90.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 90.42; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 835.004374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.794548; longitude = -118.637928; captureRadius = 10; duration = 252; initialDepth = 828.659115; finalDepth = 835.004374; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.1925630000001 # Actual altitude: 26.1925630000001 # Commanded vehicle depth: 835.004374 # Seafloor depth: -861.196937 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 104.77; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.48; MB_Bottom_Detect_Filter_Max_Range = 104.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 104.77; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 828.659115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795039; longitude = -118.638846; captureRadius = 10; duration = 252; initialDepth = 821.046142; finalDepth = 828.659115; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.2416019999999 # Actual altitude: 26.2416019999999 # Commanded vehicle depth: 828.659115 # Seafloor depth: -854.900717 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 104.97; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.50; MB_Bottom_Detect_Filter_Max_Range = 104.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 104.97; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 821.046142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795530; longitude = -118.639764; captureRadius = 10; duration = 255; initialDepth = 812.789070; finalDepth = 821.046142; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 27.404547 # Actual altitude: 27.404547 # Commanded vehicle depth: 821.046142 # Seafloor depth: -848.450689 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 109.62; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.96; MB_Bottom_Detect_Filter_Max_Range = 109.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 109.62; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 812.789070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796028; longitude = -118.640695; captureRadius = 10; duration = 294; # abortOnTimeout = True; initialDepth = 808.611050; finalDepth = 812.789070; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.051781 # Actual altitude: 28.051781 # Commanded vehicle depth: 812.78907 # Seafloor depth: -840.840851 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 112.21; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.22; MB_Bottom_Detect_Filter_Max_Range = 112.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 112.21; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 808.611050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796605; longitude = -118.641762; captureRadius = 10; duration = 253; initialDepth = 805.471071; finalDepth = 808.611050; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.051781 # Actual altitude: 28.051781 # Commanded vehicle depth: 808.61105 # Seafloor depth: -832.672994 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 112.21; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.22; MB_Bottom_Detect_Filter_Max_Range = 112.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 112.21; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 805.471071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797101; longitude = -118.642680; captureRadius = 10; duration = 253; initialDepth = 803.297935; finalDepth = 805.471071; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 24.061944 # Actual altitude: 24.061944 # Commanded vehicle depth: 805.471071 # Seafloor depth: -828.473185 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 96.25; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.62; MB_Bottom_Detect_Filter_Max_Range = 96.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 96.25; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 803.297935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797597; longitude = -118.643599; captureRadius = 10; duration = 253; initialDepth = 800.380429; finalDepth = 803.297935; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 23.0021139999999 # Actual altitude: 23.0021139999999 # Commanded vehicle depth: 803.297935 # Seafloor depth: -825.287693 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 92.01; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.20; MB_Bottom_Detect_Filter_Max_Range = 92.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 92.01; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 800.380429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798094; longitude = -118.644517; captureRadius = 10; duration = 255; initialDepth = 786.083881; finalDepth = 800.380429; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.7888019999999 # Actual altitude: 22.7888019999999 # Commanded vehicle depth: 800.380429 # Seafloor depth: -823.169231 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 91.16; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.12; MB_Bottom_Detect_Filter_Max_Range = 91.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 91.16; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 786.083881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798595; longitude = -118.645444; captureRadius = 10; duration = 250; initialDepth = 781.863375; finalDepth = 786.083881; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 34.2432709999999 # Actual altitude: 34.2432709999999 # Commanded vehicle depth: 786.083881 # Seafloor depth: -820.327152 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 136.97; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.70; MB_Bottom_Detect_Filter_Max_Range = 136.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 136.97; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 781.863375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799086; longitude = -118.646353; captureRadius = 10; duration = 253; initialDepth = 786.001191; finalDepth = 781.863375; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 34.2432709999999 # Actual altitude: 34.2432709999999 # Commanded vehicle depth: 781.863375 # Seafloor depth: -805.891109 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 136.97; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.70; MB_Bottom_Detect_Filter_Max_Range = 136.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 136.97; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 786.001191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799583; longitude = -118.647271; captureRadius = 10; duration = 253; initialDepth = 793.995524; finalDepth = 786.001191; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 24.027734 # Actual altitude: 24.027734 # Commanded vehicle depth: 786.001191 # Seafloor depth: -806.001191 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 96.11; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.61; MB_Bottom_Detect_Filter_Max_Range = 96.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 96.11; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 793.995524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800079; longitude = -118.648189; captureRadius = 10; duration = 253; initialDepth = 794.737509; finalDepth = 793.995524; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 793.995524 # Seafloor depth: -813.995524 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.737509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800575; longitude = -118.649107; captureRadius = 10; duration = 253; initialDepth = 794.810882; finalDepth = 794.737509; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.1969839999999 # Actual altitude: 20.1969839999999 # Commanded vehicle depth: 794.737509 # Seafloor depth: -814.934493 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.79; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.08; MB_Bottom_Detect_Filter_Max_Range = 80.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.79; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.810882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801072; longitude = -118.650026; captureRadius = 10; duration = 253; initialDepth = 795.106633; finalDepth = 794.810882; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.1969839999999 # Actual altitude: 20.1969839999999 # Commanded vehicle depth: 794.810882 # Seafloor depth: -814.864606 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.79; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.08; MB_Bottom_Detect_Filter_Max_Range = 80.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.79; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.106633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801568; longitude = -118.650944; captureRadius = 10; duration = 253; initialDepth = 796.475320; finalDepth = 795.106633; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.053724 # Actual altitude: 20.053724 # Commanded vehicle depth: 795.106633 # Seafloor depth: -815.106633 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.21; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.02; MB_Bottom_Detect_Filter_Max_Range = 80.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.21; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.475320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802064; longitude = -118.651862; captureRadius = 10; duration = 253; initialDepth = 797.841364; finalDepth = 796.475320; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 796.47532 # Seafloor depth: -816.475320 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.841364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802560; longitude = -118.652780; captureRadius = 10; duration = 253; initialDepth = 799.102412; finalDepth = 797.841364; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 797.841364 # Seafloor depth: -817.841364 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.102412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803057; longitude = -118.653698; captureRadius = 10; duration = 253; initialDepth = 799.641609; finalDepth = 799.102412; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 799.102412 # Seafloor depth: -819.102412 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.641609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803553; longitude = -118.654616; captureRadius = 10; duration = 252; initialDepth = 799.750942; finalDepth = 799.641609; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 20.0292919999999 # Actual altitude: 20.0292919999999 # Commanded vehicle depth: 799.641609 # Seafloor depth: -819.670901 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.12; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.01; MB_Bottom_Detect_Filter_Max_Range = 80.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.750942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804048; longitude = -118.655532; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 800.569618; finalDepth = 799.750942; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 20.856816 # Actual altitude: 20.856816 # Commanded vehicle depth: 799.750942 # Seafloor depth: -820.607758 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 83.43; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.34; MB_Bottom_Detect_Filter_Max_Range = 83.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 83.43; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 800.569618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804338; longitude = -118.655274; captureRadius = 10; duration = 270; # abortOnTimeout = True; initialDepth = 799.855962; finalDepth = 800.569618; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.0187 # Actual altitude: 21.0187 # Commanded vehicle depth: 800.569618 # Seafloor depth: -821.588318 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.07; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.41; MB_Bottom_Detect_Filter_Max_Range = 84.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.07; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.855962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803807; longitude = -118.654292; captureRadius = 10; duration = 253; initialDepth = 798.801015; finalDepth = 799.855962; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.0187 # Actual altitude: 21.0187 # Commanded vehicle depth: 799.855962 # Seafloor depth: -820.527981 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.07; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.41; MB_Bottom_Detect_Filter_Max_Range = 84.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.07; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 798.801015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803311; longitude = -118.653374; captureRadius = 10; duration = 253; initialDepth = 797.674583; finalDepth = 798.801015; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.035071 # Actual altitude: 21.035071 # Commanded vehicle depth: 798.801015 # Seafloor depth: -819.836086 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.14; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.41; MB_Bottom_Detect_Filter_Max_Range = 84.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.14; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.674583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802815; longitude = -118.652456; captureRadius = 10; duration = 253; initialDepth = 796.242289; finalDepth = 797.674583; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.0749070000001 # Actual altitude: 21.0749070000001 # Commanded vehicle depth: 797.674583 # Seafloor depth: -818.749490 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.30; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.43; MB_Bottom_Detect_Filter_Max_Range = 84.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.30; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.242289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802319; longitude = -118.651538; captureRadius = 10; duration = 253; initialDepth = 795.700374; finalDepth = 796.242289; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.429233 # Actual altitude: 21.429233 # Commanded vehicle depth: 796.242289 # Seafloor depth: -817.671522 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.72; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.57; MB_Bottom_Detect_Filter_Max_Range = 85.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.72; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.700374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801822; longitude = -118.650620; captureRadius = 10; duration = 253; initialDepth = 795.202000; finalDepth = 795.700374; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.429233 # Actual altitude: 21.429233 # Commanded vehicle depth: 795.700374 # Seafloor depth: -816.240232 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.72; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.57; MB_Bottom_Detect_Filter_Max_Range = 85.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.72; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.202000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801326; longitude = -118.649701; captureRadius = 10; duration = 253; initialDepth = 794.129389; finalDepth = 795.202000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.539858 # Actual altitude: 20.539858 # Commanded vehicle depth: 795.202 # Seafloor depth: -815.680837 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 82.16; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.22; MB_Bottom_Detect_Filter_Max_Range = 82.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 82.16; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.129389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800830; longitude = -118.648783; captureRadius = 10; duration = 253; initialDepth = 788.924841; finalDepth = 794.129389; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.187576 # Actual altitude: 21.187576 # Commanded vehicle depth: 794.129389 # Seafloor depth: -815.316965 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.75; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.48; MB_Bottom_Detect_Filter_Max_Range = 84.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.75; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 788.924841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800334; longitude = -118.647865; captureRadius = 10; duration = 253; initialDepth = 785.109251; finalDepth = 788.924841; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.0288419999999 # Actual altitude: 25.0288419999999 # Commanded vehicle depth: 788.924841 # Seafloor depth: -813.953683 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.12; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.01; MB_Bottom_Detect_Filter_Max_Range = 100.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.12; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 785.109251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799837; longitude = -118.646946; captureRadius = 10; duration = 253; initialDepth = 793.220465; finalDepth = 785.109251; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.0288419999999 # Actual altitude: 25.0288419999999 # Commanded vehicle depth: 785.109251 # Seafloor depth: -808.915904 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.12; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.01; MB_Bottom_Detect_Filter_Max_Range = 100.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.12; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 793.220465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799341; longitude = -118.646029; captureRadius = 10; duration = 253; initialDepth = 800.498201; finalDepth = 793.220465; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 23.806653 # Actual altitude: 23.806653 # Commanded vehicle depth: 793.220465 # Seafloor depth: -813.220465 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 95.23; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.52; MB_Bottom_Detect_Filter_Max_Range = 95.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 95.23; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 800.498201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798845; longitude = -118.645111; captureRadius = 10; duration = 253; initialDepth = 803.006417; finalDepth = 800.498201; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 800.498201 # Seafloor depth: -820.498201 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 803.006417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798349; longitude = -118.644193; captureRadius = 10; duration = 253; initialDepth = 805.560235; finalDepth = 803.006417; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 803.006417 # Seafloor depth: -823.006417 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 805.560235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797852; longitude = -118.643275; captureRadius = 10; duration = 254; initialDepth = 809.413165; finalDepth = 805.560235; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 805.560235 # Seafloor depth: -825.560235 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.413165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797353; longitude = -118.642350; captureRadius = 10; duration = 251; initialDepth = 814.496331; finalDepth = 809.413165; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 809.413165 # Seafloor depth: -829.413165 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 814.496331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796860; longitude = -118.641438; captureRadius = 10; duration = 263; initialDepth = 818.487722; finalDepth = 814.496331; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 814.496331 # Seafloor depth: -834.496331 # behavior reson { duration = RESON_DURATION; 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 = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 818.487722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796343; longitude = -118.640482; captureRadius = 10; duration = 125; # abortOnTimeout = True; initialDepth = 812.973873; finalDepth = 818.487722; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 23.363322 # Actual altitude: 23.363322 # Commanded vehicle depth: 818.487722 # Seafloor depth: -841.851044 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 93.45; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.35; MB_Bottom_Detect_Filter_Max_Range = 93.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 93.45; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 812.973873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795964; longitude = -118.640776; captureRadius = 10; duration = 271; # abortOnTimeout = True; initialDepth = 808.805293; finalDepth = 812.973873; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.6518139999999 # Actual altitude: 27.6518139999999 # Commanded vehicle depth: 812.973873 # Seafloor depth: -840.625687 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 110.61; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.06; MB_Bottom_Detect_Filter_Max_Range = 110.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 110.61; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 808.805293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796497; longitude = -118.641762; captureRadius = 10; duration = 253; initialDepth = 805.965021; finalDepth = 808.805293; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.6518139999999 # Actual altitude: 27.6518139999999 # Commanded vehicle depth: 808.805293 # Seafloor depth: -832.875699 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 110.61; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.06; MB_Bottom_Detect_Filter_Max_Range = 110.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 110.61; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 805.965021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796993; longitude = -118.642680; captureRadius = 10; duration = 253; initialDepth = 803.701488; finalDepth = 805.965021; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 24.070406 # Actual altitude: 24.070406 # Commanded vehicle depth: 805.965021 # Seafloor depth: -828.692227 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 96.28; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.63; MB_Bottom_Detect_Filter_Max_Range = 96.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 96.28; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 803.701488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797490; longitude = -118.643599; captureRadius = 10; duration = 253; initialDepth = 800.994534; finalDepth = 803.701488; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.727206 # Actual altitude: 22.727206 # Commanded vehicle depth: 803.701488 # Seafloor depth: -825.760069 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 90.91; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.09; MB_Bottom_Detect_Filter_Max_Range = 90.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 90.91; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 800.994534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797986; longitude = -118.644517; captureRadius = 10; duration = 255; initialDepth = 786.949224; finalDepth = 800.994534; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.5968809999999 # Actual altitude: 22.5968809999999 # Commanded vehicle depth: 800.994534 # Seafloor depth: -823.591415 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 90.39; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.04; MB_Bottom_Detect_Filter_Max_Range = 90.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 90.39; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 786.949224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798487; longitude = -118.645443; captureRadius = 10; duration = 250; initialDepth = 781.617040; finalDepth = 786.949224; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 33.9992480000001 # Actual altitude: 33.9992480000001 # Commanded vehicle depth: 786.949224 # Seafloor depth: -820.948472 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 136.00; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.60; MB_Bottom_Detect_Filter_Max_Range = 136.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 136.00; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 781.617040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798979; longitude = -118.646353; captureRadius = 10; duration = 253; initialDepth = 784.448352; finalDepth = 781.617040; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 33.9992480000001 # Actual altitude: 33.9992480000001 # Commanded vehicle depth: 781.61704 # Seafloor depth: -806.748705 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 136.00; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.60; MB_Bottom_Detect_Filter_Max_Range = 136.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 136.00; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 784.448352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799475; longitude = -118.647271; captureRadius = 10; duration = 253; initialDepth = 794.558068; finalDepth = 784.448352; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.131665 # Actual altitude: 25.131665 # Commanded vehicle depth: 784.448352 # Seafloor depth: -804.448352 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 100.53; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.05; MB_Bottom_Detect_Filter_Max_Range = 100.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.53; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.558068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799971; longitude = -118.648189; captureRadius = 10; duration = 253; initialDepth = 794.694205; finalDepth = 794.558068; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.1997289999999 # Actual altitude: 20.1997289999999 # Commanded vehicle depth: 794.558068 # Seafloor depth: -814.757797 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.80; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.08; MB_Bottom_Detect_Filter_Max_Range = 80.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.80; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.694205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800468; longitude = -118.649107; captureRadius = 10; duration = 253; initialDepth = 794.665155; finalDepth = 794.694205; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.311836 # Actual altitude: 20.311836 # Commanded vehicle depth: 794.694205 # Seafloor depth: -815.006041 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 81.25; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.12; MB_Bottom_Detect_Filter_Max_Range = 81.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 81.25; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.665155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800964; longitude = -118.650026; captureRadius = 10; duration = 253; initialDepth = 794.961329; finalDepth = 794.665155; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.311836 # Actual altitude: 20.311836 # Commanded vehicle depth: 794.665155 # Seafloor depth: -814.751846 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 81.25; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.12; MB_Bottom_Detect_Filter_Max_Range = 81.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 81.25; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.961329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801460; longitude = -118.650944; captureRadius = 10; duration = 253; initialDepth = 796.136416; finalDepth = 794.961329; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.086691 # Actual altitude: 20.086691 # Commanded vehicle depth: 794.961329 # Seafloor depth: -814.961329 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.35; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.03; MB_Bottom_Detect_Filter_Max_Range = 80.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.35; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.136416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801957; longitude = -118.651862; captureRadius = 10; duration = 253; initialDepth = 797.610245; finalDepth = 796.136416; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 796.136416 # Seafloor depth: -816.136416 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.610245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802453; longitude = -118.652780; captureRadius = 10; duration = 253; initialDepth = 798.935140; finalDepth = 797.610245; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 797.610245 # Seafloor depth: -817.610245 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 798.935140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802949; longitude = -118.653698; captureRadius = 10; duration = 258; initialDepth = 799.504988; finalDepth = 798.935140; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 798.93514 # Seafloor depth: -818.935140 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.504988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803456; longitude = -118.654635; captureRadius = 10; duration = 257; initialDepth = 799.587896; finalDepth = 799.504988; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 20.054039 # Actual altitude: 20.054039 # Commanded vehicle depth: 799.504988 # Seafloor depth: -819.559027 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.22; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.02; MB_Bottom_Detect_Filter_Max_Range = 80.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.587896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803960; longitude = -118.655568; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 800.245796; finalDepth = 799.587896; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 20.99618 # Actual altitude: 20.99618 # Commanded vehicle depth: 799.587896 # Seafloor depth: -820.584076 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 83.98; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.40; MB_Bottom_Detect_Filter_Max_Range = 83.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 83.98; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 800.245796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804250; longitude = -118.655310; captureRadius = 10; duration = 267; # abortOnTimeout = True; initialDepth = 799.596192; finalDepth = 800.245796; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.99618 # Actual altitude: 20.99618 # Commanded vehicle depth: 800.245796 # Seafloor depth: -821.188019 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 83.98; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.40; MB_Bottom_Detect_Filter_Max_Range = 83.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 83.98; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.596192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803726; longitude = -118.654340; captureRadius = 10; duration = 251; initialDepth = 798.430362; finalDepth = 799.596192; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.942223 # Actual altitude: 20.942223 # Commanded vehicle depth: 799.596192 # Seafloor depth: -820.239204 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 83.77; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.38; MB_Bottom_Detect_Filter_Max_Range = 83.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 83.77; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 798.430362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803233; longitude = -118.653428; captureRadius = 10; duration = 253; initialDepth = 797.368937; finalDepth = 798.430362; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.154565 # Actual altitude: 21.154565 # Commanded vehicle depth: 798.430362 # Seafloor depth: -819.584927 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.62; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.46; MB_Bottom_Detect_Filter_Max_Range = 84.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.62; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.368937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802736; longitude = -118.652510; captureRadius = 10; duration = 253; initialDepth = 795.951370; finalDepth = 797.368937; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.154565 # Actual altitude: 21.154565 # Commanded vehicle depth: 797.368937 # Seafloor depth: -818.416179 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.62; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.46; MB_Bottom_Detect_Filter_Max_Range = 84.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.62; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.951370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802240; longitude = -118.651592; captureRadius = 10; duration = 253; initialDepth = 795.412478; finalDepth = 795.951370; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.387462 # Actual altitude: 21.387462 # Commanded vehicle depth: 795.95137 # Seafloor depth: -817.338832 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.55; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.55; MB_Bottom_Detect_Filter_Max_Range = 85.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.412478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801744; longitude = -118.650674; captureRadius = 10; duration = 253; initialDepth = 794.991998; finalDepth = 795.412478; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.387462 # Actual altitude: 21.387462 # Commanded vehicle depth: 795.412478 # Seafloor depth: -815.945941 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.55; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.55; MB_Bottom_Detect_Filter_Max_Range = 85.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.991998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801247; longitude = -118.649755; captureRadius = 10; duration = 253; initialDepth = 793.690726; finalDepth = 794.991998; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.533463 # Actual altitude: 20.533463 # Commanded vehicle depth: 794.991998 # Seafloor depth: -815.418897 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 82.13; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.21; MB_Bottom_Detect_Filter_Max_Range = 82.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 82.13; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 793.690726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800751; longitude = -118.648837; captureRadius = 10; duration = 253; initialDepth = 787.334074; finalDepth = 793.690726; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.448302 # Actual altitude: 21.448302 # Commanded vehicle depth: 793.690726 # Seafloor depth: -815.139028 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.79; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.58; MB_Bottom_Detect_Filter_Max_Range = 85.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.79; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 787.334074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800255; longitude = -118.647919; captureRadius = 10; duration = 253; initialDepth = 782.417289; finalDepth = 787.334074; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.241981 # Actual altitude: 26.241981 # Commanded vehicle depth: 787.334074 # Seafloor depth: -813.576055 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 104.97; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.50; MB_Bottom_Detect_Filter_Max_Range = 104.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 104.97; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 782.417289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799759; longitude = -118.647001; captureRadius = 10; duration = 253; initialDepth = 791.689418; finalDepth = 782.417289; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.241981 # Actual altitude: 26.241981 # Commanded vehicle depth: 782.417289 # Seafloor depth: -806.442314 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 104.97; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.50; MB_Bottom_Detect_Filter_Max_Range = 104.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 104.97; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 791.689418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799262; longitude = -118.646083; captureRadius = 10; duration = 253; initialDepth = 800.504891; finalDepth = 791.689418; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 24.025025 # Actual altitude: 24.025025 # Commanded vehicle depth: 791.689418 # Seafloor depth: -811.689418 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 96.10; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.61; MB_Bottom_Detect_Filter_Max_Range = 96.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 96.10; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 800.504891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798766; longitude = -118.645165; captureRadius = 10; duration = 253; initialDepth = 803.023441; finalDepth = 800.504891; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 800.504891 # Seafloor depth: -820.504891 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 803.023441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798270; longitude = -118.644247; captureRadius = 10; duration = 253; initialDepth = 805.519641; finalDepth = 803.023441; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 803.023441 # Seafloor depth: -823.023441 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 805.519641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797773; longitude = -118.643329; captureRadius = 10; duration = 253; initialDepth = 809.149232; finalDepth = 805.519641; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 805.519641 # Seafloor depth: -825.519641 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.149232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797277; longitude = -118.642410; captureRadius = 10; duration = 253; initialDepth = 814.206829; finalDepth = 809.149232; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 809.149232 # Seafloor depth: -829.149232 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 814.206829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796781; longitude = -118.641492; captureRadius = 10; duration = 255; initialDepth = 817.873474; finalDepth = 814.206829; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 814.206829 # Seafloor depth: -834.206829 # behavior reson { duration = RESON_DURATION; 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 = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 817.873474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796279; longitude = -118.640564; captureRadius = 10; duration = 124; # abortOnTimeout = True; initialDepth = 813.086605; finalDepth = 817.873474; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 23.670258 # Actual altitude: 23.670258 # Commanded vehicle depth: 817.873474 # Seafloor depth: -841.543732 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 94.68; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.47; MB_Bottom_Detect_Filter_Max_Range = 94.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 94.68; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 813.086605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795901; longitude = -118.640857; captureRadius = 10; duration = 264; # abortOnTimeout = True; initialDepth = 808.807349; finalDepth = 813.086605; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.0831340000001 # Actual altitude: 27.0831340000001 # Commanded vehicle depth: 813.086605 # Seafloor depth: -840.169739 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 108.33; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.83; MB_Bottom_Detect_Filter_Max_Range = 108.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 108.33; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 808.807349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796420; longitude = -118.641816; captureRadius = 10; duration = 255; initialDepth = 806.088701; finalDepth = 808.807349; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.0831340000001 # Actual altitude: 27.0831340000001 # Commanded vehicle depth: 808.807349 # Seafloor depth: -832.726413 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 108.33; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.83; MB_Bottom_Detect_Filter_Max_Range = 108.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 108.33; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 806.088701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796921; longitude = -118.642743; captureRadius = 10; duration = 250; initialDepth = 803.925103; finalDepth = 806.088701; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 23.9190639999999 # Actual altitude: 23.9190639999999 # Commanded vehicle depth: 806.088701 # Seafloor depth: -828.777337 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 95.68; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.57; MB_Bottom_Detect_Filter_Max_Range = 95.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 95.68; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 803.925103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797412; longitude = -118.643653; captureRadius = 10; duration = 253; initialDepth = 801.521098; finalDepth = 803.925103; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.688636 # Actual altitude: 22.688636 # Commanded vehicle depth: 803.925103 # Seafloor depth: -826.048591 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 90.75; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.08; MB_Bottom_Detect_Filter_Max_Range = 90.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 90.75; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 801.521098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797908; longitude = -118.644571; captureRadius = 10; duration = 253; initialDepth = 787.998331; finalDepth = 801.521098; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.3460379999999 # Actual altitude: 22.3460379999999 # Commanded vehicle depth: 801.521098 # Seafloor depth: -823.867136 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 89.38; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.94; MB_Bottom_Detect_Filter_Max_Range = 89.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 89.38; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 787.998331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798405; longitude = -118.645489; captureRadius = 10; duration = 253; initialDepth = 781.549945; finalDepth = 787.998331; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 33.336274 # Actual altitude: 33.336274 # Commanded vehicle depth: 787.998331 # Seafloor depth: -821.334605 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 133.35; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.33; MB_Bottom_Detect_Filter_Max_Range = 133.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 133.35; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 781.549945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798901; longitude = -118.646407; captureRadius = 10; duration = 253; initialDepth = 784.253351; finalDepth = 781.549945; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 33.336274 # Actual altitude: 33.336274 # Commanded vehicle depth: 781.549945 # Seafloor depth: -807.114463 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 133.35; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.33; MB_Bottom_Detect_Filter_Max_Range = 133.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 133.35; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 784.253351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799397; longitude = -118.647325; captureRadius = 10; duration = 253; initialDepth = 795.206122; finalDepth = 784.253351; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.564518 # Actual altitude: 25.564518 # Commanded vehicle depth: 784.253351 # Seafloor depth: -804.253351 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 102.26; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.23; MB_Bottom_Detect_Filter_Max_Range = 102.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 102.26; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.206122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799893; longitude = -118.648243; captureRadius = 10; duration = 253; initialDepth = 794.665465; finalDepth = 795.206122; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.292237 # Actual altitude: 20.292237 # Commanded vehicle depth: 795.206122 # Seafloor depth: -815.498359 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 81.17; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.12; MB_Bottom_Detect_Filter_Max_Range = 81.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 81.17; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.665465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800390; longitude = -118.649161; captureRadius = 10; duration = 253; initialDepth = 794.623533; finalDepth = 794.665465; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.5047089999999 # Actual altitude: 20.5047089999999 # Commanded vehicle depth: 794.665465 # Seafloor depth: -815.170174 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 82.02; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.20; MB_Bottom_Detect_Filter_Max_Range = 82.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 82.02; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.623533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800886; longitude = -118.650080; captureRadius = 10; duration = 253; initialDepth = 794.919042; finalDepth = 794.623533; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.5047089999999 # Actual altitude: 20.5047089999999 # Commanded vehicle depth: 794.623533 # Seafloor depth: -814.670739 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 82.02; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.20; MB_Bottom_Detect_Filter_Max_Range = 82.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 82.02; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.919042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801382; longitude = -118.650998; captureRadius = 10; duration = 253; initialDepth = 795.938148; finalDepth = 794.919042; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.0472060000001 # Actual altitude: 20.0472060000001 # Commanded vehicle depth: 794.919042 # Seafloor depth: -814.955853 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.19; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.02; MB_Bottom_Detect_Filter_Max_Range = 80.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.19; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.938148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801878; longitude = -118.651916; captureRadius = 10; duration = 253; initialDepth = 797.630739; finalDepth = 795.938148; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.0368110000001 # Actual altitude: 20.0368110000001 # Commanded vehicle depth: 795.938148 # Seafloor depth: -815.938148 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.15; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.01; MB_Bottom_Detect_Filter_Max_Range = 80.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.15; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.630739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802375; longitude = -118.652835; captureRadius = 10; duration = 252; initialDepth = 798.878203; finalDepth = 797.630739; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 797.630739 # Seafloor depth: -817.630739 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 798.878203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802871; longitude = -118.653752; captureRadius = 10; duration = 253; initialDepth = 799.385534; finalDepth = 798.878203; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 798.878203 # Seafloor depth: -818.878203 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.385534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803367; longitude = -118.654670; captureRadius = 10; duration = 257; initialDepth = 799.532703; finalDepth = 799.385534; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 20.0611 # Actual altitude: 20.0611 # Commanded vehicle depth: 799.385534 # Seafloor depth: -819.446634 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.24; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.02; MB_Bottom_Detect_Filter_Max_Range = 80.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.24; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.532703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803872; longitude = -118.655604; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 800.000911; finalDepth = 799.532703; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 21.2917600000001 # Actual altitude: 21.2917600000001 # Commanded vehicle depth: 799.532703 # Seafloor depth: -820.824463 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.17; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.52; MB_Bottom_Detect_Filter_Max_Range = 85.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.17; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 800.000911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804162; longitude = -118.655346; captureRadius = 10; duration = 245; # abortOnTimeout = True; initialDepth = 799.378689; finalDepth = 800.000911; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.2917600000001 # Actual altitude: 21.2917600000001 # Commanded vehicle depth: 800.000911 # Seafloor depth: -821.007629 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.17; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.52; MB_Bottom_Detect_Filter_Max_Range = 85.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.17; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.378689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803680; longitude = -118.654454; captureRadius = 10; duration = 253; initialDepth = 798.214595; finalDepth = 799.378689; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.006718 # Actual altitude: 21.006718 # Commanded vehicle depth: 799.378689 # Seafloor depth: -820.053708 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.03; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.40; MB_Bottom_Detect_Filter_Max_Range = 84.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.03; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 798.214595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803184; longitude = -118.653536; captureRadius = 10; duration = 253; initialDepth = 797.098954; finalDepth = 798.214595; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.1620879999999 # Actual altitude: 21.1620879999999 # Commanded vehicle depth: 798.214595 # Seafloor depth: -819.376683 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.65; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.46; MB_Bottom_Detect_Filter_Max_Range = 84.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.65; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.098954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802687; longitude = -118.652618; captureRadius = 10; duration = 253; initialDepth = 795.714434; finalDepth = 797.098954; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.1620879999999 # Actual altitude: 21.1620879999999 # Commanded vehicle depth: 797.098954 # Seafloor depth: -818.190523 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.65; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.46; MB_Bottom_Detect_Filter_Max_Range = 84.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.65; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.714434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802191; longitude = -118.651700; captureRadius = 10; duration = 253; initialDepth = 795.177291; finalDepth = 795.714434; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.345851 # Actual altitude: 21.345851 # Commanded vehicle depth: 795.714434 # Seafloor depth: -817.060285 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.38; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.54; MB_Bottom_Detect_Filter_Max_Range = 85.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.38; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.177291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801695; longitude = -118.650782; captureRadius = 10; duration = 253; initialDepth = 794.852019; finalDepth = 795.177291; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.345851 # Actual altitude: 21.345851 # Commanded vehicle depth: 795.177291 # Seafloor depth: -815.681762 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.38; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.54; MB_Bottom_Detect_Filter_Max_Range = 85.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.38; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.852019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801199; longitude = -118.649863; captureRadius = 10; duration = 253; initialDepth = 793.791134; finalDepth = 794.852019; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.5044710000001 # Actual altitude: 20.5044710000001 # Commanded vehicle depth: 794.852019 # Seafloor depth: -815.208487 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 82.02; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.20; MB_Bottom_Detect_Filter_Max_Range = 82.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 82.02; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 793.791134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800701; longitude = -118.648943; captureRadius = 10; duration = 252; initialDepth = 786.586578; finalDepth = 793.791134; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.233308 # Actual altitude: 21.233308 # Commanded vehicle depth: 793.791134 # Seafloor depth: -815.024442 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.93; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.49; MB_Bottom_Detect_Filter_Max_Range = 84.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.93; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 786.586578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800206; longitude = -118.648027; captureRadius = 10; duration = 253; initialDepth = 779.716894; finalDepth = 786.586578; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.160039 # Actual altitude: 27.160039 # Commanded vehicle depth: 786.586578 # Seafloor depth: -813.746617 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 108.64; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.86; MB_Bottom_Detect_Filter_Max_Range = 108.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 108.64; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 779.716894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799710; longitude = -118.647109; captureRadius = 10; duration = 253; initialDepth = 789.066899; finalDepth = 779.716894; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.160039 # Actual altitude: 27.160039 # Commanded vehicle depth: 779.716894 # Seafloor depth: -806.035253 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 108.64; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.86; MB_Bottom_Detect_Filter_Max_Range = 108.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 108.64; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 789.066899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799214; longitude = -118.646191; captureRadius = 10; duration = 253; initialDepth = 800.364605; finalDepth = 789.066899; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.318359 # Actual altitude: 26.318359 # Commanded vehicle depth: 789.066899 # Seafloor depth: -809.066899 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 105.27; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.53; MB_Bottom_Detect_Filter_Max_Range = 105.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 105.27; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 800.364605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798717; longitude = -118.645273; captureRadius = 10; duration = 255; initialDepth = 802.952978; finalDepth = 800.364605; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 800.364605 # Seafloor depth: -820.364605 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 802.952978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798217; longitude = -118.644347; captureRadius = 10; duration = 250; initialDepth = 805.349282; finalDepth = 802.952978; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 802.952978 # Seafloor depth: -822.952978 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 805.349282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797725; longitude = -118.643437; captureRadius = 10; duration = 253; initialDepth = 808.801441; finalDepth = 805.349282; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 805.349282 # Seafloor depth: -825.349282 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 808.801441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797229; longitude = -118.642518; captureRadius = 10; duration = 253; initialDepth = 813.566998; finalDepth = 808.801441; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 808.801441 # Seafloor depth: -828.801441 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 813.566998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796732; longitude = -118.641600; captureRadius = 10; duration = 263; initialDepth = 817.672802; finalDepth = 813.566998; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 813.566998 # Seafloor depth: -833.566998 # behavior reson { duration = RESON_DURATION; 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 = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 817.672802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796216; longitude = -118.640645; captureRadius = 10; duration = 125; # abortOnTimeout = True; initialDepth = 812.828656; finalDepth = 817.672802; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 23.2097209999999 # Actual altitude: 23.2097209999999 # Commanded vehicle depth: 817.672802 # Seafloor depth: -840.882523 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 92.84; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.28; MB_Bottom_Detect_Filter_Max_Range = 92.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 92.84; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 812.828656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795837; longitude = -118.640939; captureRadius = 10; duration = 256; # abortOnTimeout = True; initialDepth = 809.115688; finalDepth = 812.828656; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.236438 # Actual altitude: 27.236438 # Commanded vehicle depth: 812.828656 # Seafloor depth: -840.065094 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 108.95; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.89; MB_Bottom_Detect_Filter_Max_Range = 108.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 108.95; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 809.115688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796340; longitude = -118.641870; captureRadius = 10; duration = 253; initialDepth = 806.493649; finalDepth = 809.115688; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.236438 # Actual altitude: 27.236438 # Commanded vehicle depth: 809.115688 # Seafloor depth: -832.663496 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 108.95; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.89; MB_Bottom_Detect_Filter_Max_Range = 108.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 108.95; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 806.493649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796837; longitude = -118.642788; captureRadius = 10; duration = 253; initialDepth = 804.360983; finalDepth = 806.493649; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 23.547808 # Actual altitude: 23.547808 # Commanded vehicle depth: 806.493649 # Seafloor depth: -828.962149 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 94.19; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.42; MB_Bottom_Detect_Filter_Max_Range = 94.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 94.19; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.360983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797333; longitude = -118.643707; captureRadius = 10; duration = 253; initialDepth = 801.749207; finalDepth = 804.360983; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.4684999999999 # Actual altitude: 22.4684999999999 # Commanded vehicle depth: 804.360983 # Seafloor depth: -826.345750 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 89.87; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.99; MB_Bottom_Detect_Filter_Max_Range = 89.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 89.87; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 801.749207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797829; longitude = -118.644625; captureRadius = 10; duration = 253; initialDepth = 788.277541; finalDepth = 801.749207; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.5076250000001 # Actual altitude: 22.5076250000001 # Commanded vehicle depth: 801.749207 # Seafloor depth: -824.256832 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 90.03; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.00; MB_Bottom_Detect_Filter_Max_Range = 90.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 90.03; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 788.277541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798326; longitude = -118.645543; captureRadius = 10; duration = 253; initialDepth = 781.621325; finalDepth = 788.277541; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 33.465347 # Actual altitude: 33.465347 # Commanded vehicle depth: 788.277541 # Seafloor depth: -821.742888 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 133.86; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.39; MB_Bottom_Detect_Filter_Max_Range = 133.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 133.86; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 781.621325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798822; longitude = -118.646461; captureRadius = 10; duration = 253; initialDepth = 785.782833; finalDepth = 781.621325; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 33.465347 # Actual altitude: 33.465347 # Commanded vehicle depth: 781.621325 # Seafloor depth: -807.941992 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 133.86; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.39; MB_Bottom_Detect_Filter_Max_Range = 133.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 133.86; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 785.782833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799318; longitude = -118.647379; captureRadius = 10; duration = 253; initialDepth = 795.530728; finalDepth = 785.782833; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.3206670000001 # Actual altitude: 26.3206670000001 # Commanded vehicle depth: 785.782833 # Seafloor depth: -805.782833 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 105.28; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.53; MB_Bottom_Detect_Filter_Max_Range = 105.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 105.28; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.530728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799815; longitude = -118.648297; captureRadius = 10; duration = 253; initialDepth = 794.568853; finalDepth = 795.530728; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.395032 # Actual altitude: 20.395032 # Commanded vehicle depth: 795.530728 # Seafloor depth: -815.925760 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 81.58; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.16; MB_Bottom_Detect_Filter_Max_Range = 81.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 81.58; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.568853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800311; longitude = -118.649215; captureRadius = 10; duration = 254; initialDepth = 794.557738; finalDepth = 794.568853; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.841615 # Actual altitude: 20.841615 # Commanded vehicle depth: 794.568853 # Seafloor depth: -815.410468 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 83.37; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.34; MB_Bottom_Detect_Filter_Max_Range = 83.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 83.37; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.557738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800809; longitude = -118.650137; captureRadius = 10; duration = 252; initialDepth = 794.823887; finalDepth = 794.557738; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.841615 # Actual altitude: 20.841615 # Commanded vehicle depth: 794.557738 # Seafloor depth: -814.597486 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 83.37; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.34; MB_Bottom_Detect_Filter_Max_Range = 83.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 83.37; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.823887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801304; longitude = -118.651052; captureRadius = 10; duration = 253; initialDepth = 795.848673; finalDepth = 794.823887; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.039748 # Actual altitude: 20.039748 # Commanded vehicle depth: 794.823887 # Seafloor depth: -814.823887 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.16; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.02; MB_Bottom_Detect_Filter_Max_Range = 80.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.16; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.848673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801800; longitude = -118.651970; captureRadius = 10; duration = 253; initialDepth = 797.631267; finalDepth = 795.848673; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 795.848673 # Seafloor depth: -815.848673 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.631267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802296; longitude = -118.652888; captureRadius = 10; duration = 253; initialDepth = 799.044113; finalDepth = 797.631267; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 797.631267 # Seafloor depth: -817.631267 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.044113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802793; longitude = -118.653806; captureRadius = 10; duration = 255; initialDepth = 799.361672; finalDepth = 799.044113; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 799.044113 # Seafloor depth: -819.044113 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.361672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803294; longitude = -118.654733; captureRadius = 10; duration = 250; initialDepth = 799.549585; finalDepth = 799.361672; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 20.071112 # Actual altitude: 20.071112 # Commanded vehicle depth: 799.361672 # Seafloor depth: -819.432784 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.28; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.03; MB_Bottom_Detect_Filter_Max_Range = 80.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.549585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803784; longitude = -118.655640; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 799.845265; finalDepth = 799.549585; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 21.300055 # Actual altitude: 21.300055 # Commanded vehicle depth: 799.549585 # Seafloor depth: -820.849640 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.20; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.52; MB_Bottom_Detect_Filter_Max_Range = 85.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.20; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.845265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804075; longitude = -118.655382; captureRadius = 10; duration = 240; # abortOnTimeout = True; initialDepth = 799.241095; finalDepth = 799.845265; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.300055 # Actual altitude: 21.300055 # Commanded vehicle depth: 799.845265 # Seafloor depth: -820.718948 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.20; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.52; MB_Bottom_Detect_Filter_Max_Range = 85.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.20; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.241095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803603; longitude = -118.654508; captureRadius = 10; duration = 253; initialDepth = 798.005121; finalDepth = 799.241095; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.8736829999999 # Actual altitude: 20.8736829999999 # Commanded vehicle depth: 799.241095 # Seafloor depth: -819.836994 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 83.49; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.35; MB_Bottom_Detect_Filter_Max_Range = 83.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 83.49; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 798.005121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803106; longitude = -118.653590; captureRadius = 10; duration = 253; initialDepth = 796.811101; finalDepth = 798.005121; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.202763 # Actual altitude: 21.202763 # Commanded vehicle depth: 798.005121 # Seafloor depth: -819.207884 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.81; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.48; MB_Bottom_Detect_Filter_Max_Range = 84.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.81; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.811101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802610; longitude = -118.652672; captureRadius = 10; duration = 253; initialDepth = 795.384822; finalDepth = 796.811101; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.202763 # Actual altitude: 21.202763 # Commanded vehicle depth: 796.811101 # Seafloor depth: -817.944454 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.81; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.48; MB_Bottom_Detect_Filter_Max_Range = 84.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.81; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.384822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802114; longitude = -118.651754; captureRadius = 10; duration = 253; initialDepth = 794.969567; finalDepth = 795.384822; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.365144 # Actual altitude: 21.365144 # Commanded vehicle depth: 795.384822 # Seafloor depth: -816.749966 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.46; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.55; MB_Bottom_Detect_Filter_Max_Range = 85.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.46; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.969567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801617; longitude = -118.650836; captureRadius = 10; duration = 253; initialDepth = 794.813750; finalDepth = 794.969567; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.365144 # Actual altitude: 21.365144 # Commanded vehicle depth: 794.969567 # Seafloor depth: -815.381367 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 85.46; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.55; MB_Bottom_Detect_Filter_Max_Range = 85.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.46; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.813750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801121; longitude = -118.649917; captureRadius = 10; duration = 253; initialDepth = 793.768468; finalDepth = 794.813750; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.4118 # Actual altitude: 20.4118 # Commanded vehicle depth: 794.81375 # Seafloor depth: -815.007430 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 81.65; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.16; MB_Bottom_Detect_Filter_Max_Range = 81.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 81.65; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 793.768468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800625; longitude = -118.648999; captureRadius = 10; duration = 253; initialDepth = 786.306185; finalDepth = 793.768468; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.183564 # Actual altitude: 21.183564 # Commanded vehicle depth: 793.768468 # Seafloor depth: -814.952032 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.73; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.47; MB_Bottom_Detect_Filter_Max_Range = 84.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.73; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 786.306185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800128; longitude = -118.648081; captureRadius = 10; duration = 253; initialDepth = 781.461331; finalDepth = 786.306185; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.410474 # Actual altitude: 27.410474 # Commanded vehicle depth: 786.306185 # Seafloor depth: -813.716659 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 109.64; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.96; MB_Bottom_Detect_Filter_Max_Range = 109.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 109.64; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 781.461331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799632; longitude = -118.647163; captureRadius = 10; duration = 253; initialDepth = 787.724457; finalDepth = 781.461331; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.410474 # Actual altitude: 27.410474 # Commanded vehicle depth: 781.461331 # Seafloor depth: -805.288773 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 109.64; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.96; MB_Bottom_Detect_Filter_Max_Range = 109.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 109.64; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 787.724457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799135; longitude = -118.646244; captureRadius = 10; duration = 252; initialDepth = 800.526258; finalDepth = 787.724457; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 23.827442 # Actual altitude: 23.827442 # Commanded vehicle depth: 787.724457 # Seafloor depth: -807.724457 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 95.31; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.53; MB_Bottom_Detect_Filter_Max_Range = 95.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 95.31; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 800.526258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798639; longitude = -118.645327; captureRadius = 10; duration = 253; initialDepth = 803.077761; finalDepth = 800.526258; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 800.526258 # Seafloor depth: -820.526258 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 803.077761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798143; longitude = -118.644409; captureRadius = 10; duration = 253; initialDepth = 805.376360; finalDepth = 803.077761; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 803.077761 # Seafloor depth: -823.077761 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 805.376360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797647; longitude = -118.643491; captureRadius = 10; duration = 253; initialDepth = 808.723988; finalDepth = 805.376360; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 805.37636 # Seafloor depth: -825.376360 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 808.723988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797150; longitude = -118.642572; captureRadius = 10; duration = 254; initialDepth = 813.330606; finalDepth = 808.723988; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 808.723988 # Seafloor depth: -828.723988 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 813.330606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796651; longitude = -118.641648; captureRadius = 10; duration = 254; initialDepth = 817.013072; finalDepth = 813.330606; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 813.330606 # Seafloor depth: -833.330606 # behavior reson { duration = RESON_DURATION; 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 = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 817.013072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796152; longitude = -118.640726; captureRadius = 10; duration = 124; # abortOnTimeout = True; initialDepth = 812.299540; finalDepth = 817.013072; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 23.569844 # Actual altitude: 23.569844 # Commanded vehicle depth: 817.013072 # Seafloor depth: -840.582916 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 94.28; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.43; MB_Bottom_Detect_Filter_Max_Range = 94.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 94.28; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 812.299540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.795774; longitude = -118.641020; captureRadius = 10; duration = 278; # abortOnTimeout = True; initialDepth = 808.839219; finalDepth = 812.299540; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.9522000000001 # Actual altitude: 26.9522000000001 # Commanded vehicle depth: 812.29954 # Seafloor depth: -839.251740 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 107.81; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.78; MB_Bottom_Detect_Filter_Max_Range = 107.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 107.81; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 808.839219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796320; longitude = -118.642032; captureRadius = 10; duration = 253; initialDepth = 806.324516; finalDepth = 808.839219; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.9522000000001 # Actual altitude: 26.9522000000001 # Commanded vehicle depth: 808.839219 # Seafloor depth: -831.995387 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 107.81; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.78; MB_Bottom_Detect_Filter_Max_Range = 107.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 107.81; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 806.324516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.796815; longitude = -118.642950; captureRadius = 10; duration = 253; initialDepth = 804.557990; finalDepth = 806.324516; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 23.1561680000001 # Actual altitude: 23.1561680000001 # Commanded vehicle depth: 806.324516 # Seafloor depth: -828.824177 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 92.62; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.26; MB_Bottom_Detect_Filter_Max_Range = 92.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 92.62; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.557990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797311; longitude = -118.643869; captureRadius = 10; duration = 253; initialDepth = 801.922831; finalDepth = 804.557990; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.4996609999999 # Actual altitude: 22.4996609999999 # Commanded vehicle depth: 804.55799 # Seafloor depth: -826.252865 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 90.00; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.00; MB_Bottom_Detect_Filter_Max_Range = 90.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 90.00; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 801.922831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.797806; longitude = -118.644787; captureRadius = 10; duration = 253; initialDepth = 788.802168; finalDepth = 801.922831; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 22.544893 # Actual altitude: 22.544893 # Commanded vehicle depth: 801.922831 # Seafloor depth: -824.467724 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 90.18; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 9.02; MB_Bottom_Detect_Filter_Max_Range = 90.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 90.18; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 788.802168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798301; longitude = -118.645705; captureRadius = 10; duration = 253; initialDepth = 781.811411; finalDepth = 788.802168; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 32.8193699999999 # Actual altitude: 32.8193699999999 # Commanded vehicle depth: 788.802168 # Seafloor depth: -821.621538 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 131.28; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.13; MB_Bottom_Detect_Filter_Max_Range = 131.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 131.28; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 781.811411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.798796; longitude = -118.646623; captureRadius = 10; duration = 255; initialDepth = 789.828699; finalDepth = 781.811411; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 32.8193699999999 # Actual altitude: 32.8193699999999 # Commanded vehicle depth: 781.811411 # Seafloor depth: -808.160841 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 131.28; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.13; MB_Bottom_Detect_Filter_Max_Range = 131.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 131.28; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 789.828699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799297; longitude = -118.647551; captureRadius = 10; duration = 250; initialDepth = 795.608787; finalDepth = 789.828699; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.34943 # Actual altitude: 26.34943 # Commanded vehicle depth: 789.828699 # Seafloor depth: -809.828699 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 105.40; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.54; MB_Bottom_Detect_Filter_Max_Range = 105.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 105.40; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 795.608787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.799787; longitude = -118.648459; captureRadius = 10; duration = 253; initialDepth = 794.641530; finalDepth = 795.608787; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.190093 # Actual altitude: 21.190093 # Commanded vehicle depth: 795.608787 # Seafloor depth: -816.798880 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.76; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.48; MB_Bottom_Detect_Filter_Max_Range = 84.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.76; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.641530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800282; longitude = -118.649377; captureRadius = 10; duration = 253; initialDepth = 794.604615; finalDepth = 794.641530; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 21.190093 # Actual altitude: 21.190093 # Commanded vehicle depth: 794.64153 # Seafloor depth: -815.586709 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 84.76; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.48; MB_Bottom_Detect_Filter_Max_Range = 84.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.76; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.604615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.800777; longitude = -118.650296; captureRadius = 10; duration = 253; initialDepth = 794.806850; finalDepth = 794.604615; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.9451790000001 # Actual altitude: 20.9451790000001 # Commanded vehicle depth: 794.604615 # Seafloor depth: -814.643046 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 83.78; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.38; MB_Bottom_Detect_Filter_Max_Range = 83.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 83.78; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 794.806850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801273; longitude = -118.651214; captureRadius = 10; duration = 253; initialDepth = 796.041474; finalDepth = 794.806850; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.0384310000001 # Actual altitude: 20.0384310000001 # Commanded vehicle depth: 794.80685 # Seafloor depth: -814.806850 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.15; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.02; MB_Bottom_Detect_Filter_Max_Range = 80.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.15; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 796.041474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.801768; longitude = -118.652132; captureRadius = 10; duration = 255; initialDepth = 797.792724; finalDepth = 796.041474; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 796.041474 # Seafloor depth: -816.041474 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 797.792724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802267; longitude = -118.653058; captureRadius = 10; duration = 250; initialDepth = 799.389566; finalDepth = 797.792724; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 797.792724 # Seafloor depth: -817.792724 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.389566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.802758; longitude = -118.653968; captureRadius = 10; duration = 253; initialDepth = 799.432248; finalDepth = 799.389566; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.011241 # Actual altitude: 20.011241 # Commanded vehicle depth: 799.389566 # Seafloor depth: -819.400807 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.04; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.04; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 799.432248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803254; longitude = -118.654886; captureRadius = 10; duration = 252; initialDepth = 801.767456; finalDepth = 799.432248; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 20.03907 # Actual altitude: 20.03907 # Commanded vehicle depth: 799.432248 # Seafloor depth: -819.471318 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.16; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.02; MB_Bottom_Detect_Filter_Max_Range = 80.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.16; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 801.767456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.803747; longitude = -118.655801; captureRadius = 10; duration = 247; # abortOnTimeout = True; initialDepth = 804.531353; finalDepth = 801.767456; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20.03907 # Actual altitude: 20.03907 # Commanded vehicle depth: 801.767456 # Seafloor depth: -821.767456 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.16; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.02; MB_Bottom_Detect_Filter_Max_Range = 80.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 80.16; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 804.531353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.804482; longitude = -118.656410; captureRadius = 10; duration = 259; initialDepth = 808.295845; finalDepth = 804.531353; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 804.531353 # Seafloor depth: -824.531353 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 808.295845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805250; longitude = -118.657047; captureRadius = 10; duration = 250; initialDepth = 811.064313; finalDepth = 808.295845; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 808.295845 # Seafloor depth: -828.295845 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 811.064313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.805994; longitude = -118.657663; captureRadius = 10; duration = 254; initialDepth = 812.233435; finalDepth = 811.064313; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 811.064313 # Seafloor depth: -831.064313 # behavior reson { duration = RESON_DURATION; SBP_Duration = 400.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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: 20.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 812.233435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 33.806750; longitude = -118.658289; captureRadius = 10; duration = 262; initialDepth = 812.251190; finalDepth = 812.233435; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 20 # Actual altitude: 20 # Commanded vehicle depth: 812.233435 # Seafloor depth: -832.233435 # behavior reson { duration = RESON_DURATION; 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 = 55; 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 = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 21.29776 # Sonar parameter altitude: 21.29776 # Commanded vehicle depth: 812.25119 # Seafloor depth: -833.548950 # behavior reson { duration = RESON_DURATION; 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 = 85.19; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.52; MB_Bottom_Detect_Filter_Max_Range = 85.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 85.19; 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: 812.251190 meters behavior waypoint { latitude = 33.807528; longitude = -118.658934; captureRadius = 10; duration = 507; depth = 812.251190; 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 812.251190 meters set by local depth and desired altitude behavior descend { duration = 2394; horizontalMode = rudder; horizontal = DESCENDRUDDER; pitch = DESCENDPITCH; speed = 1.5; maxDepth = SPIRAL_DESCENT_DEPTH; minAltitude = SPIRAL_DESCENT_ALTITUDE; } # # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 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 = 355.0; pitch = DESCENDPITCH; speed = 1.5; maxDepth = DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; duration = DESCEND_DURATION; } # # setpoint on surface to gather momentum behavior setpoint { duration = SETPOINT_DURATION; heading = 355.0; speed = 1.5; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = RESON_DURATION; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 400.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 55; 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; } # 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